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

MicroBridge/androidADB.h

Committer:
chrigelburri
Date:
2013-05-20
Revision:
27:a13ede88e75f
Parent:
21:48248c5b8992
Child:
32:767044a3e421

File content as of revision 27:a13ede88e75f:

#ifndef _ANDROIDADB_H_
#define _ANDROIDADB_H_

#include "mbed.h"
#include "Adb.h"
#include "defines.h"
#include "RobotControl.h"

#include <string>
#include <sstream>
#include <vector>
#include <iostream>
#include <stdlib.h>

/**
* @brief Takes an string, a vector of strings for the delimited tokens, and a with the
* @param str
* @param tokens
* @param delimiters
*/
void Tokenize(const string& str,
              vector<string>& tokens,
              const string& delimiters = " ");

/**
* @brief @todo
* @param length
* @param data
*/
void parseMessage(uint16_t length, uint8_t * data);

/**
* @brief @todo
* Connecting to android.
*/
void connect();

/**
* @brief Gets the desired &theta; value.
* @return the desired &theta;, given in [°]  GRad oder rad??????????????????
*/
float getDesiredTheta();

/**
* @brief Gets the desired X-postition.
* @return the desired X-postition, given in [m]
*/
float getDesiredX();

/**
* @brief Gets the desired Y-postition.
* @return the desired Y-postition, given in [m]
*/
float getDesiredY();

/**
* @brief Sets the desired &theta; value.
* @param t desired &theta; value, given in [°]
*/
void setDesiredTheta(float t);

/**
* @brief Initialise the ADB subsystem. Open an ADB stream on tcp port 4568.
*/
void init();

/**
* @brief @todo
* @param str
*/
void write2Android(char str [32]);

/**
* @brief Write the Parameterlist to the android smartphone.
* @param x
* @param y
* @param t
* @param state_u
* @param state_r
* @param volt_b
*/
void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b);

#endif