Christian Burri / Mbed 2 deprecated autonomous Robot Android

This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

Diff: Actuators/MaxonESCON/MaxonESCON.cpp

Revision:
2:d8e1613dc38b
Parent:
1:6cd533a712c6
--- a/Actuators/MaxonESCON/MaxonESCON.cpp	Sat Mar 02 09:39:34 2013 +0000
+++ b/Actuators/MaxonESCON/MaxonESCON.cpp	Sun Mar 03 16:26:47 2013 +0000
@@ -27,7 +27,7 @@
 
     // Set the pulses to zero
     _pulses = 0;
-    
+
     // Set the Pull Up Resistor
     _isenb.mode(PullUp);
 }
@@ -66,10 +66,10 @@
 bool MaxonESCON::isEnabled()
 {
     if(_isenb.read() == 1) {
-         return true;
-     } else {
-         return false;
-     }
+        return true;
+    } else {
+        return false;
+    }
 }
 
 int MaxonESCON::getPulses(void)
@@ -84,45 +84,3 @@
     _pulses = _hall->getPulses();
     return _pulses;
 }
-
-
-///// Für Polling muss mit unter Code gearbeitet werden.
-
-/*
-int MaxonESCON::getHallPosition(void)
-{
-    return HALL_POSITION[(_hall1.read() ? 1 : 0)+(_hall2.read() ? 2 : 0)+(_hall3.read() ? 4 : 0)];
-}
-
-int MaxonESCON::getPosition(void)
-{
-     position calculation
-
-int actualHallPosition = getHallPosition();
-
-if (actualHallPosition > 0) {
-    if ((actualHallPosition == 1) && (hallPosition >= 5)) {
-        turns++;
-    } else if ((actualHallPosition == 2) && (hallPosition == 6)) {
-        turns++;
-    } else if ((actualHallPosition == 5) && (hallPosition == 1)) {
-        turns--;
-    } else if ((actualHallPosition == 6) && (hallPosition <= 2)) {
-        turns--;
-    }
-    hallPosition = actualHallPosition;
-}
-return turns;
-}
-
-float MaxonESCON::getTransPosition(void)
-{
-return (turns * 2 * _wheelRadius * pi) / (_gear * _polePairs); // PULSES_PER_STEP muss weg da nach 6 hallimpus ein turn gibt
-}
-
-int MaxonESCON::setPosition(int setPos)
-{
-turns = setPos;
-return turns;
-}
-*/