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 34:62996eed658a, committed 2013-05-25
- Comitter:
- chrigelburri
- Date:
- Sat May 25 05:44:14 2013 +0000
- Parent:
- 33:ac39982fd3b2
- Child:
- 36:4226e50a0bcd
- Commit message:
- vor dem rauskicken der adb;
Changed in this revision
--- a/MicroBridge/androidADB.h Tue May 21 17:42:50 2013 +0000
+++ b/MicroBridge/androidADB.h Sat May 25 05:44:14 2013 +0000
@@ -12,10 +12,28 @@
#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
+ * @author Arno Galliker
+ *
+ * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ *
+ * @brief
+ *
+ * This File is for the connection to te self written java android app.
+ * The connection works with the ADB class from rom Junichi Katsu.
+ * For more information see here: <a href="http://mbed.org/users/jksoft/code/MicroBridge/">http://mbed.org/users/jksoft/code/MicroBridge/</a>
+ */
+
+ /**
+ * @file androidADB.h
+ */
+
+/**
+* @brief Takes an string, a vector of strings for the delimited tokens.
+* Tokens is the array to separated with the delimiters.
+* @param str to
+* @param tokens is the vecotr array
+* @param delimiters of the string
*/
void Tokenize(const string& str,
vector<string>& tokens,
--- a/defines.h Tue May 21 17:42:50 2013 +0000
+++ b/defines.h Sat May 25 05:44:14 2013 +0000
@@ -57,17 +57,17 @@
/**
* @brief Distance of the wheel, given in [m] Greater --> turn more
*/
-#define WHEEL_DISTANCE 0.1721f // org.0.17500f alt: 0.173f
+#define WHEEL_DISTANCE (0.1700f-0.001f) // org.0.17500f alt: 0.173f //(0.1700f-0.004f) immer zu weit links (0.1700f-0.006f) war mal gut aber jetz zu weit rechts
/**
* @brief Sets the start X-point, given in [m]
*/
-#define START_X_OFFSET -0.8f
+#define START_X_OFFSET -0.850f//-0.8f
/**
* @brief Sets the start Y-point, given in [m]
*/
-#define START_Y_OFFSET 0.8f
+#define START_Y_OFFSET 0.775f//0.8f
/*! @} */
/**
@@ -193,24 +193,9 @@
/**
* @brief 10Hz Rate for the Android communication , given in [s]
*/
-#define PERIOD_ANDROID 0.025f
+#define PERIOD_ANDROID (0.025f*2)
/*! @} */
-/**
- * @name Android Buffer Size for communication
- * @{
- */
-
-/**
- * @brief Buffer Output
- */
-#define OUTL 100
-
-/**
- * @brief Buffer Input
- */
-#define INBL 100
-/*! @} */
/**
* @brief struct state
--- a/main.cpp Tue May 21 17:42:50 2013 +0000
+++ b/main.cpp Sat May 25 05:44:14 2013 +0000
@@ -113,13 +113,13 @@
{
/**
- * Check at first the Battery voltage. Starts when the voltage
+ * Check at first the Battery voltage. Starts when the voltage
* is greater than the min is.
* start the timer for the Logging to the file
* and start the Task for logging.
**/
state.start();
-
+
while(s.voltageBattery < BAT_MIN) {
for (float f = 0.1f; f < 6.3f; f += 0.1f) {
for(int i = 0; i <= 3; i ++) {
@@ -144,7 +144,7 @@
state.initPlotFile();
state.startTimerFromZero();
robotControl.start();
-
+/*
/**
* Clear all Errors of the ESCON Module, with a disabled to enable event.
*/
@@ -198,14 +198,14 @@
robotControl.getyActualPosition(),
robotControl.getActualTheta());
robotControl.stop();
- state.savePlotFile(s);
leftMotor.setVelocity(0.0f);
rightMotor.setVelocity(0.0f);
+ wait(2);
+
/**
* 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);
@@ -230,5 +230,4 @@
}
wait(0.05);
}
-
}