Christian Burri
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
Fork of
autonomous Robot Android
by 
Christian Burri
Diff: Android/Android.cpp
- Revision:
- 2:d8e1613dc38b
- Parent:
- 1:6cd533a712c6
- Child:
- 3:92ba0254af87
--- a/Android/Android.cpp Sat Mar 02 09:39:34 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,201 +0,0 @@
-#include "Android.h"
-
-using namespace std;
-
-
-Android::Android(state_t* s, RobotControl* robotControl, MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, float period)
- :
- Task(period),
- AndroidAccessory (OUTL, INBL, MANUFACTURER, MODEL, DESCRIPTION, VERSION, URI, SERIAL)
-{
- /* get peripherals */
- this->s = s;
- this->robotControl = robotControl;
- this->motorControllerLeft = motorControllerLeft;
- this->motorControllerRight = motorControllerRight;
- this->period = period;
-
- setupDevice();
- USBInit();
-
-}
-
-
-Android::~Android() {}
-
-
-void Android::run()
-{
-
- USBLoop();
-
-
- /*
-
- SENDEN SENDEN SENDEN SENDEN SENDEN SENDEN SENDEN SENDEN
-
- HIer die Sollwertvorgabe position und Winkel
- robotContol->setxPosition(1.0f);
- robotContol->setyPosition(1.0f);
- robotContol->setTheta(1/2 * piiii);
-
-
- SENDEN SENDEN SENDEN SENDEN SENDEN SENDEN SENDEN SENDEN
-
-
-
-
- LESEN LESEN LESEN LESEN LESEN LESEN LESEN LESEN LESEN LESEN LESEN LESEN LESEN
-
- Hier die aktuelle Position und Winkel
- s->xAxis oder robotControl->getxActualPosition();
- s->yAxis oder robotControl->getyActualPosition();
- s->angle = robotControl->getActualTheta() * 180 / PI;
-
-
- Batterie
- s->voltageBattery
-
- Status
- s->state;
-
- LESEN LESEN LESEN LESEN LESEN LESEN LESEN LESEN LESEN LESEN LESEN LESEN LESEN
-
-
-
-
-
- BEim Start muss das Kommen nach dem Start Klicken muss alles auf null gesetzt werden. und los gehts
-
- compass.calibrate_compass_basis_rad();
-
- robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET);
- leftMotor->setPulses(0);
- rightMotor->setPulses(0);
- robotControl->setEnable(false);
- wait(0.2);
- robotControl->setEnable(true);
- wait(0.2);
- state->startTimerFromZero();
- state->initPlotFile();
- state->start();
-
- ENDE Start
-
-
-
- Beim ENDE Muss das kommen
- state->savePlotFile(s);
- ENDE
-
- */
-}
-
-int Android::callbackRead(u8 *buf, int len)
-{
- // pc.printf("%i %s\n\r\n\n\n",len,buf);
- for (int i = 0; i<INBL; i++) {
- buf[i] = 0;
- }
-}
-
-
-void Android::setupDevice()
-{
- // pc.baud(460800);
- // pc.printf("Welcome to Android\n\n\n\n\n\n\r");
- settick = false;
- // pc.attach(this, &Android::serialIRQ, Serial::RxIrq);
- for (int i = 0; i<OUTL; i++) {
- buffer[i] = 0;
- }
- bcount = 0;
- //n.attach(this,&Android::AttachTick,5);
- //tick.attach(this,&Android::onTick,0.1);
-}
-void Android::resetDevice()
-{
- //pc.printf("Android reset\n\r");
- for (int i = 0; i<OUTL; i++) {
- buffer[i] = 0;
- }
- bcount = 0;
-}
-
-int Android::callbackWrite()
-{
- return 0;
-}
-
-
-void Android::AttachTick()
-{
- if(!settick)tick.attach(this,&Android::onTick,0.04);
- settick = true;
-}
-
-void Android::onTick()
-{
- bool update = false;
- int templ, tempr;
-
-
-
- templ = int(left * 10000);
- tempr = int(right * 10000);
-
-
-
- if (abs(templ-tl)>170) {
- update = true;
- }
- if (abs(tempr-tr)>170) {
- update = true;
- }
- if (update) {
- u8* wbuf = _writebuff;
-
- wbuf[0] = 'P';
- wbuf[1] = templ&0xFF;
- wbuf[2] = (templ>>8) & 0xFF;
- wbuf[3] = tempr&0xFF;
- wbuf[4] = (tempr>>8) & 0xFF;
- wbuf[5] = 0;
-
- this->write(wbuf,5);
-
- }
-}
-
-
-void Android::serialIRQ()
-{
- // buffer[bcount] = pc.getc();
-
- // pc.putc(buffer[bcount]);
-
- if (buffer[bcount] == '\n' || buffer[bcount] == '\r') {
- u8* wbuf = _writebuff;
- for (int i = 0; i<OUTL; i++) {
- wbuf[i] = buffer[i];
- buffer[i] = 0;
- }
- //pc.printf("Sending: %s\n\r",wbuf);
- this->write(wbuf,bcount);
- bcount = 0;
- } else {
- if (buffer[bcount] != 0x08 && buffer[bcount] != 0x7F ) {
- bcount++;
- if (bcount == OUTL) {
- bcount = 0;
- }
- } else {
- bcount--;
- }
- }
-
-}
-
-
-
-