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: RobotControl/RobotControl.h

Revision:
2:d8e1613dc38b
Parent:
1:6cd533a712c6
Child:
3:92ba0254af87
--- a/RobotControl/RobotControl.h	Sat Mar 02 09:39:34 2013 +0000
+++ b/RobotControl/RobotControl.h	Sun Mar 03 16:26:47 2013 +0000
@@ -46,15 +46,6 @@
     float               speed;
     float               omega;
 
-    float               rho; /* Distance to goal [m]*/
-    float               gamma; /* Angle of the start position to goal position [rad]*/
-    float               delta; /* Angle of the goal postition [rad]*/
-
-    float               deltaXPostition; /* differenz of the actual X-value and the desired [m] */
-    float               deltaYPostition; /* differenz of the actual X-value and the desired [m] */
-
-
-
 public:
 
     /**
@@ -110,7 +101,7 @@
     void        setDesiredOmega(float omega);
 
     /**
-    * Sets the desired X- position of the robot.
+    * Sets the desired X-position of the robot.
     * @param xposition the desired position, given in [m].
     */
     void        setxPosition(float xposition);
@@ -122,12 +113,20 @@
     void        setyPosition(float yposition);
 
     /**
-    * Sets the angle of the robot.
+    * Sets the desired angle of the robot.
     * @param theta the desired angle, given in [rad].
     */
     void        setTheta(float theta);
     
     /**
+    * Sets the desired Position and angle.
+    * @param xposition the desired position, given in [m].
+    * @param yposition the desired position, given in [m]. 
+    * @param theta the desired angle, given in [rad].  
+    */
+    void        setPositionAngle(float xposition, float yposition, float theta);
+
+    /**
      * Gets the desired Theta. Angle of the goal Point.
      * @return the desired Theta, given in [rad].
      */
@@ -191,7 +190,6 @@
     * Gets the orientation following error of the robot.
     * @return the orientation following error, given in [rad].
     */
-    
     float       getThetaError();
     
     /**
@@ -212,7 +210,6 @@
     */
     float       getThetaGoal();
 
-
     /**
     * Set all state to zero
     * @param xZeroPos Sets the start X-position [m].