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: StateDefines/defines.h
- Revision:
- 2:d8e1613dc38b
- Parent:
- 1:6cd533a712c6
- Child:
- 3:92ba0254af87
--- a/StateDefines/defines.h Sat Mar 02 09:39:34 2013 +0000
+++ b/StateDefines/defines.h Sun Mar 03 16:26:47 2013 +0000
@@ -26,7 +26,7 @@
#define ESCON_GET_FACTOR 100.0f // Speed Factor how get in the ESCON
// Start Defintition
-#define START_X_OFFSET -0.8f // Sets the start X-point [m]
+#define START_X_OFFSET -0.8f // Sets the start X-point [m]
#define START_Y_OFFSET 0.8f // Sets the start Y-point [m]
// Maximum Aceeleration
@@ -34,25 +34,23 @@
#define THETA_ACCELERATION 1.0f // maximum rotational acceleration, given in [rad/s2]
// Gains of the position controller
-#define GAIN 0.2f
-#define K1 1.0f * GAIN
-#define K2 3.0f * GAIN
-#define K3 2.0f * GAIN
+#define GAIN 0.30f // Main Gain
+#define K1 1.0f * GAIN
+#define K2 3.0f * GAIN
+#define K3 2.0f * GAIN
-#define MIN_DISTANCE_ERROR 0.1 // min. Distance to switch the position controller off. Because when Distance Error goes to zero the ATAN2 is not define, given in [m]
+#define MIN_DISTANCE_ERROR 0.03 // min. Distance to switch the position controller off. Because when Distance Error goes to zero the ATAN2 is not define, given in [m]
// LiPo Batterie
-#define BAT_MULTIPLICATOR 21.633333333f // R2 / (R1 + R2) = 0.153 R2= 10k , R1 = 1.8k
-// 1/0.153 = 6.555 ---> 3.3/1 * 6.555 = 21.6333333f
-#define BAT_MIN 17.5f // minium operate voltage [V] Battery Type: 1SP1P LG-18650 -->
-// nominal voltage 3.6V --> 5 batterys ==> 5 * 3.5V = 17.5V
+#define BAT_MULTIPLICATOR 21.633333333f // R2 / (R1 + R2) = 0.153 R2= 10k , R1 = 1.8k 1/0.153 = 6.555 ---> 3.3 * 6.555 = 21.6333333f
+#define BAT_MIN 17.5f // minium operate voltage [V] Battery Type: 1SP1P LG-18650 --> nominal voltage 3.6V --> 5 batterys ==> 5 * 3.5V = 17.5V
+
// Frequenz for the Task
#define PERIOD_COMPASS 0.050f // 20Hz Rate for Compass HMC6352
#define PERIOD_ROBOTCONTROL 0.001f // 1kHz Rate for Robot Control
#define PERIOD_STATE 0.001f // 1kHz Rate for State Objekt
#define PERIOD_ANDROID 0.1f // 10Hz Rate for State Objekt
-
// Compass Maxima und Minima for the Filter
#define SET_MAXIMAS_MINIMAS true // For Set the maximas und minimas when false the object search the maximas minimas by your own
/*#define COMP_X_MAX 344.464996f // Maximum X-Range
@@ -69,16 +67,10 @@
#define COMP_Y_MIN -247.647675f // Minimum Y-Range
#define COMP_Z_MIN -385.915009f // Minimun Z-Range not used in this side
-
-/**
-* struct state
- * structure containing system sensor data
- ****** System Status
- ****** Data reported Motor
- ****** Data reported Car
- ****** Set Point Car
- ****** measuring Position and angle
- **/
+ /**
+ * struct state
+ * structure containing system sensor data
+ **/
typedef struct state {
/** millis Time [ms]*/
int millis;
@@ -124,6 +116,12 @@
float compassyAxis;
/** State of the Car **/
int state;
+ /** distance to Goal */
+ float rho;
+ /** theta to goal */
+ float lamda;
+ /** theta from the goal */
+ float delta;
} state_t;