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: main.cpp

Revision:
2:d8e1613dc38b
Parent:
1:6cd533a712c6
Child:
3:92ba0254af87
--- a/main.cpp	Sat Mar 02 09:39:34 2013 +0000
+++ b/main.cpp	Sun Mar 03 16:26:47 2013 +0000
@@ -1,12 +1,17 @@
-/*
- * main.cpp
- * Copyright (c) 2012, Pren Team1 HSLU T&A
+/**
+ * @author Christian Burri
+ *
+ * @section LICENSE
+ *
+ * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
  * All rights reserved.
+ *
+ * @section DESCRIPTION
+ *
+ * ?????
+ *
  */
 
-///////////////////////////////////////////////////////////////////////////////////////////////////////
-// INCLUDES
-///////////////////////////////////////////////////////////////////////////////////////////////////////
 #include "mbed.h"
 #include "math.h"
 #include "defines.h"
@@ -16,8 +21,6 @@
 #include "RobotControl.h"
 #include "Ping.h"
 #include "PowerControl/EthernetPowerControl.h"
-#include "Android.h"
-
 
 // LiPo Batterie
 AnalogIn battery(p15);           // Battery check
@@ -26,10 +29,6 @@
 //HMC5883L compass(p9, p10, PERIOD_COMPASS);       // sda, sdl (I2C)
 //HMC6352 compass(p9, p10, PERIOD_COMPASS);        // sda, sdl (I2C)
 
-
-// ultrasonic sensor
-//Ping ultrasonic(p30);
-
 //Hallsensor
 //hall1, hall2, hall3
 Hallsensor hallLeft(p18, p17, p16);
@@ -49,10 +48,6 @@
 state_t s; // stuct state
 State state(&s, &robotControl, &leftMotor, &rightMotor, /*&compass,*/ &battery, PERIOD_STATE);
 
-// Communication
-
-//Android android(&s, &robotControl, &leftMotor, &rightMotor, PERIOD_ANDROID);
-
 // PC USB communications
 Serial pc(USBTX, USBRX);
 
@@ -65,7 +60,6 @@
 
 int main()
 {
-    pc.printf("blabal");
     /** Normal mbed power level for this setup is around 690mW
     * assuming 5V used on Vin pin
     * If you don't need networking...
@@ -73,42 +67,48 @@
     * Also need to unplug network cable - just a cable sucks power
     */
     PHY_PowerDown();
-    state.startTimerFromZero();
-    state.initPlotFile();
-    
-          //  robotControl.start();
+
+    //  robotControl.start();
     //  compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
     //  compass.start();
+    
+    state.initPlotFile();
+
     robotControl.start();
     robotControl.setEnable(false);
     wait(0.01);
     robotControl.setEnable(true);
     wait(0.01);
     robotControl.setAllToZero(0, 0, PI/2 );
+
     leftMotor.setPulses(0);
     rightMotor.setPulses(0);
+
+    state.startTimerFromZero();
     state.start();
-    pc.printf("start");
-    
-    robotControl.setxPosition(-1.0);
-    robotControl.setyPosition(1.0);
-    robotControl.setTheta( PI);
+
+    robotControl.setPositionAngle(0.0f, 1.0f,  17*PI/18);
     while(!(s.millis >= 15000)) {
         state.savePlotFile(s);
-        pc.printf("rhho: %f, gamma: %f, delta: %f thetaacutal: %f      %f   %f  atan2: %f\n", robotControl.getDistanceError(), robotControl.getThetaErrorToGoal() * 180/PI, robotControl.getThetaGoal()*180/PI, robotControl.getActualTheta()*180/PI, robotControl.getyPositionError(), robotControl.getxPositionError(), atan2(robotControl.getyPositionError(),robotControl.getxPositionError()) * 180/PI);
     };
-    pc.printf("nextpoint");
-    robotControl.setxPosition(-2.0);
-    robotControl.setyPosition(3.0);
-    robotControl.setTheta( PI/2 );
+
+    robotControl.setPositionAngle(-1.0f, 1.0f,  -PI/2);
     while(!(s.millis >= 30000)) {
         state.savePlotFile(s);
-         pc.printf("rho: %f, gamma: %f, delta: %f\n", robotControl.getDistanceError(), robotControl.getThetaErrorToGoal()  * 180/PI, robotControl.getThetaGoal()*180/PI);
+    };
+
+    robotControl.setPositionAngle(-1.0f, 0.0f,  0.0f);
+    while(!(s.millis >= 45000)) {
+        state.savePlotFile(s);
     };
-            state.savePlotFile(s);
+
+    robotControl.setPositionAngle(0.0f, 1.0f, PI/2);
+    while(!(s.millis >= 63000)) {
+        state.savePlotFile(s);
+    };
+
+    state.savePlotFile(s);
     state.closePlotFile();
     state.stop();
     robotControl.setEnable(false);
-    pc.printf("\n");
-
 }