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 21:48248c5b8992, committed 2013-05-17
- Comitter:
- chrigelburri
- Date:
- Fri May 17 06:39:44 2013 +0000
- Parent:
- 20:01b233b0e606
- Child:
- 22:bfec16575c91
- Commit message:
- vor dem einstellen des gr?nen kaktus :-)
Changed in this revision
--- a/MicroBridge/androidADB.cpp Fri May 03 14:39:24 2013 +0000
+++ b/MicroBridge/androidADB.cpp Fri May 17 06:39:44 2013 +0000
@@ -10,7 +10,7 @@
float androidy;
/** @brief Desired position in degrees for theta, given by android */
-float androidt;
+float androidt /*= (2 * PI) + 1*/;
/** @brief Indicates if a ADB connection to a android phone is established */
boolean androidConnected;
@@ -87,6 +87,7 @@
androidx = ::atof(tokens.at(0).c_str());
androidy = ::atof(tokens.at(1).c_str());
androidt = ::atof(tokens.at(2).c_str());
+
printf("Android x(%d): %f\n\r\n",length,androidx);
printf("Android y(%d): %f\n\r\n",length,androidy);
@@ -122,7 +123,7 @@
}
}
-
+//////// Brachts dies noch?????????
void write2Android(char str [32])
{
connection->write(sizeof(str),(unsigned char*)&str);
--- a/MicroBridge/androidADB.h Fri May 03 14:39:24 2013 +0000
+++ b/MicroBridge/androidADB.h Fri May 17 06:39:44 2013 +0000
@@ -13,27 +13,66 @@
#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
- */
+* @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 = " ");
-
- void parseMessage(uint16_t length, uint8_t * data);
-
+
+/**
+* @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 θ value.
+* @return the desired θ, 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 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
\ No newline at end of file
--- a/defines.h Fri May 03 14:39:24 2013 +0000 +++ b/defines.h Fri May 17 06:39:44 2013 +0000 @@ -105,12 +105,12 @@ /** * @brief Speed Factor how set in the ESCON Studio */ -#define ESCON_SET_FACTOR 1500.0f +#define ESCON_SET_FACTOR 2400.0f /** * @brief Speed Factor how get in the ESCON Studio */ -#define ESCON_GET_FACTOR 1600.4f +#define ESCON_GET_FACTOR 2452.4f /** * @brief Error patch of the drift of Analog input and pwn output for set speed
--- a/main.cpp Fri May 03 14:39:24 2013 +0000
+++ b/main.cpp Fri May 17 06:39:44 2013 +0000
@@ -23,9 +23,9 @@
* An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli.
* For more information see here: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
*
- * The connection to an android smartphone is realise with the library AndroidAccessory from Rich Bayliss.
- * For more information see here: <a href="https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/">https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/</a>
- *
+ * The connection to an android smartphone is realise with the library MicroBridge(Android ADB) from Junichi Katsu.
+ * For more information see here: <a href="http://mbed.org/users/jksoft/code/MicroBridge/">http://mbed.org/users/jksoft/code/MicroBridge/</a>
+ *
* The rest of the classes are only based on standard library from mbed.
* For more information see here: <a href="http://mbed.org/users/mbed_official/code/mbed/">http://mbed.org/users/mbed_official/code/mbed/</a>
*/
@@ -38,7 +38,6 @@
#include "State.h"
#include "RobotControl.h"
#include "androidADB.h"
-//#include "android.h"
/**
* @name Hallsensor
@@ -103,11 +102,6 @@
* @{
*/
-/**
- * @brief <code>adkTerm</code> object is for the communication with a smartphone.
- * The operation system must be a android.
- */
-//AdkTerm adkTerm(&robotControl, &s, PERIOD_ANDROID);
/*! @} */
@@ -143,121 +137,102 @@
robotControl.setAllToZero(0, 0, PI/2 );
//robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
robotControl.start();
- /*
- pc.baud(460800);
- pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r");
- pc.printf("here we go... \n");
- adkTerm.setupDevice();
- pc.printf("Android Development Kit: start\r\n");
- USBInit();
-
- //wait(3);
-
- adkTerm.start();
-
- */
// Epä Parkour fahrä
- /*
- robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
- wait(0.1);
+ /*
+ robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+ wait(0.1);
- robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.9)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f, 3*PI/4);
+ while(!(robotControl.getDistanceError() <= 0.9)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.20f, 2.1f, PI/4);
- while(!(robotControl.getDistanceError() <= 0.7)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.20f, 2.1f, PI/4);
+ while(!(robotControl.getDistanceError() <= 0.7)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-0.5f, 3.0f, PI/2); //0.75
- while(!(robotControl.getDistanceError() <= 0.7)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-0.5f, 3.0f, PI/2); //0.75
+ while(!(robotControl.getDistanceError() <= 0.7)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.0f, 3.75f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.55)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.0f, 3.75f, 3*PI/4);
+ while(!(robotControl.getDistanceError() <= 0.55)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI);
- while(!(robotControl.getDistanceError() <= 0.05)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI);
+ while(!(robotControl.getDistanceError() <= 0.05)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-2.6f, 3.0f, -PI/2);
- while(!(robotControl.getDistanceError() <= 1.0)) {
- state.savePlotFile(s);
- };
-
- robotControl.setDesiredPositionAndAngle(-2.0f, 2.0f, -PI/2);
- while(!(robotControl.getDistanceError() <= 1.0)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-2.6f, 3.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 1.0)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-2.65f, 1.30f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
- robotControl.setDesiredPositionAndAngle(-2.65f, 0.80f, -PI/2);
- while(!(s.millis >= 32000)) {
- state.savePlotFile(s);
- }
-*/
-
- /*
- while (1) {
- USBLoop();
-
- robotControl.setDesiredPositionAndAngle(adkTerm.getDesiredX(), adkTerm.getDesiredY(), adkTerm.getDesiredTheta());
-
- //pc.printf(".");
+ robotControl.setDesiredPositionAndAngle(-2.0f, 2.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 1.0)) {
+ state.savePlotFile(s);
+ };
- /*pc.printf("From Android x: %f y: %f t: %f",adkTerm.getDesiredX(), adkTerm.getDesiredY(),adkTerm.getDesiredTheta());
-
-
- pc.printf( "To Android: x: %f y: %f t: %f; \n \n", robotControl.getxActualPosition(),
- robotControl.getyActualPosition(),
- robotControl.getActualTheta());
- }*/
+ robotControl.setDesiredPositionAndAngle(-2.65f, 1.30f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
+ robotControl.setDesiredPositionAndAngle(-2.65f, 0.80f, -PI/2);
+ while(!(s.millis >= 32000)) {
+ state.savePlotFile(s);
+ }
+ */
- /**
- * Close the File PLOTS.txt to read the file after with the computer and draw a diagramm
- */
-
-
+
pc.baud(460800);
+ pc.printf("********************* MicroBridge 4568 ********************************\n\r");
- pc.printf("********************* MicroBridge 4568 ********************************\n\r");
-
init();
-
+
// Initialise the ADB subsystem.
-
+
pc.printf("connection isOpen\n");
- while(1) {
+ while(getDesiredTheta() < (4 * PI)) {
ADB::poll();
-
+
+ if (getDesiredTheta() > (2 * PI)) {
+ //robotControl.setAllToZero(0, 0, PI/2 );
+ robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
+ robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+ }
+ else
+ {
robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta());
-
- //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);
+
+ state.savePlotFile(s);
+ //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);
+
+ wait(0.25);
- }
-
+ }
+
+
+ /**
+ * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm
+ */
state.savePlotFile(s);
state.closePlotFile();
state.stop();
robotControl.setEnable(false);
-
+
}