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
Revision 20:01b233b0e606, committed 2013-05-03
- Comitter:
- chrigelburri
- Date:
- Fri May 03 14:39:24 2013 +0000
- Parent:
- 19:b2f76b0fe4c8
- Child:
- 21:48248c5b8992
- Commit message:
- writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b) zus?tzliche states
Changed in this revision
--- a/MicroBridge/androidADB.cpp Fri May 03 13:34:34 2013 +0000
+++ b/MicroBridge/androidADB.cpp Fri May 03 14:39:24 2013 +0000
@@ -17,17 +17,17 @@
float getDesiredX()
{
- return androidx;
+ return androidx/1000;
}
float getDesiredY()
{
- return androidy;
+ return androidy/1000;
}
float getDesiredTheta()
{
- return androidt;
+ return androidt * PI / 180;
}
void Tokenize(const string& str,
vector<string>& tokens,
@@ -128,18 +128,25 @@
connection->write(sizeof(str),(unsigned char*)&str);
}
-void writeActualPosition(float x, float y, float t)
+void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b)
{
-
+ // reconnect funktioniert trotzdem nicht!?
while(!(androidConnected)) {
connect();
wait(0.5);
}
- char str[32];
- sprintf( str, "%f;%f;%f;", x, y, t);
+ char str[100];
+
+ //send to android
+ sprintf( str, "%f;%f;%f;%i;%i;%i;%f;;", x,
+ y,
+ t * 180 / PI,
+ state_u == 0 ? 0 : 1,
+ state_l == 0 ? 0 : 1,
+ state_r == 0 ? 0 : 1,
+ volt_b);
- //pc.printf("Sending: %s\n\r",str);
connection->write(sizeof(str),(unsigned char*)&str);
}
--- a/MicroBridge/androidADB.h Fri May 03 13:34:34 2013 +0000 +++ b/MicroBridge/androidADB.h Fri May 03 14:39:24 2013 +0000 @@ -3,7 +3,8 @@ #include "mbed.h" #include "Adb.h" -//#include "androidADB.cpp" +#include "defines.h" +#include "RobotControl.h" #include <string> #include <sstream> @@ -33,6 +34,6 @@ void write2Android(char str [32]); -void writeActualPosition(float x, float y, float t); +void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b); #endif \ No newline at end of file
--- a/main.cpp Fri May 03 13:34:34 2013 +0000
+++ b/main.cpp Fri May 03 14:39:24 2013 +0000
@@ -241,29 +241,20 @@
pc.printf("connection isOpen\n");
- float flt = 0.0f;
- float flt2 = 0.2f;
- float flt3 = 1.2f;
-
while(1) {
ADB::poll();
-
- flt = flt - 0.1f;
- flt2 = flt2 + 0.2f;
- flt3 = flt3 - 0.05f;
+
+ robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta());
- robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta());
-
- writeActualPosition(robotControl.getxActualPosition(),robotControl.getyActualPosition(), robotControl.getActualTheta());
+ //void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b)
+ writeActualPosition(robotControl.getxActualPosition(),robotControl.getyActualPosition(), robotControl.getActualTheta(), s.state&STATE_UNDER, s.state&STATE_LEFT, s.state&STATE_RIGHT, s.voltageBattery);
//connection->write(sizeof(str),(unsigned char*)&str);
wait(1);
}
-
-
state.savePlotFile(s);
state.closePlotFile();
state.stop();