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 23:4d8173c5183b, committed 2013-05-19
- Comitter:
- chrigelburri
- Date:
- Sun May 19 14:39:20 2013 +0000
- Parent:
- 22:bfec16575c91
- Commit message:
- mit anzeige;
Changed in this revision
--- a/State/State.cpp Sun May 19 07:35:16 2013 +0000
+++ b/State/State.cpp Sun May 19 14:39:20 2013 +0000
@@ -141,6 +141,11 @@
timer.start();
}
+float State::dim( int idx, float f )
+{
+ return (sin(f + float(idx)* 1.0) + 1.0) / 2.0; // transform value from -1.0 .. 1.0 to 0.0 .. 1.0
+}
+
void State::run()
{
s->millis = timer.read_ms();
--- a/State/State.h Sun May 19 07:35:16 2013 +0000
+++ b/State/State.h Sun May 19 14:39:20 2013 +0000
@@ -82,6 +82,14 @@
* @brief Save the new state to a new line.
*/
void savePlotFile(state_t s);
+
+ /**
+ * Returns the transform a sinusvalue from -1.0 .. 1.0 to 0.0 .. 1.0
+ * @param idx number of LEDS
+ * @param f value till 2π
+ * @return sinus value from 0.0f 1.0f
+ */
+ float dim( int idx, float f );
/**
* @brief Run method actualize every period.
--- a/defines.h Sun May 19 07:35:16 2013 +0000 +++ b/defines.h Sun May 19 14:39:20 2013 +0000 @@ -47,7 +47,7 @@ /** * @brief Radius of the left wheel, given in [m] kleiner --> weiter */ -#define WHEEL_RADIUS_LEFT 0.040190f //0.040190f +#define WHEEL_RADIUS_LEFT 0.040190f /** * @brief Radius of the left wheel, given in [m] @@ -131,12 +131,12 @@ /** * @brief Main Gain for k1, k2 and k3 */ -#define GAIN 0.65f // 1.8f 0.65 +#define GAIN 0.65f /** * @brief Gain k1 default 1.0f */ -#define K1 1.45f * GAIN //0.8 1.2 +#define K1 1.45f * GAIN /** * @brief Gain k2 default 3.0f
--- a/main.cpp Sun May 19 07:35:16 2013 +0000
+++ b/main.cpp Sun May 19 14:39:20 2013 +0000
@@ -108,6 +108,9 @@
// @todo PC USB communications DAs wird danach gelöscht
Serial pc(USBTX, USBRX);
+PwmOut led[4] = { LED1, LED2, LED3, LED4 };
+
+
/**
* @brief Main function. Start the Programm here.
*/
@@ -123,12 +126,31 @@
* Check at first the Battery voltage. Starts when the voltages greater as the min is.
* start the timer for the Logging to the file
* and start the Task for logging
+ * Slow PWM sample for the end
**/
state.start();
state.initPlotFile();
state.closePlotFile();
- while(s.voltageBattery < BAT_MIN) {}
+ while(s.voltageBattery < BAT_MIN) {
+ for (float f = 0.1f; f < 6.3f; f += 0.1f) {
+ for(int i = 0; i <= 3; i ++) {
+ led[i] = state.dim( i, f );
+ }
+ wait_ms(20);
+ }
+ wait(0.05);
+ for (float f = 0.1f; f < 6.3f; f += 0.1f) {
+ for(int i = 0; i <= 3; i ++) {
+ led[i] = state.dim( 3-i, f );
+ }
+ wait_ms(20);
+ }
+ wait(0.05);
+ }
state.stop();
+ for(int i = 0; i <= 3; i ++) {
+ led[i] = state.dim( 0, 0.0f );
+ }
wait(0.5);
state.start();
state.initPlotFile();
@@ -195,9 +217,6 @@
}
-
-
-
/*
pc.baud(460800);
pc.printf("********************* MicroBridge 4568 ********************************\n\r");
@@ -241,5 +260,26 @@
state.closePlotFile();
state.stop();
robotControl.setEnable(false);
+ robotControl.stop();
+
+ /**
+ * Fast PWM sample for the end
+ */
+ while(1) {
+ for (float f = 0.1f; f < 6.3f; f += 0.1f) {
+ for(int i = 0; i <= 3; i ++) {
+ led[i] = state.dim( i, f );
+ }
+ wait_ms(5);
+ }
+ wait(0.1);
+ for (float f = 0.1f; f < 6.3f; f += 0.1f) {
+ for(int i = 0; i <= 3; i ++) {
+ led[i] = state.dim( 3-i, f );
+ }
+ wait_ms(5);
+ }
+ wait(0.05);
+ }
}