Revision 14:6a45a9f940a8, committed 2013-04-11

Comitter:

chrigelburri

Date:

Thu Apr 11 09:22:35 2013 +0000

Parent:

13:a7c30ee09bae

Child:

15:cb1337567ad4

Commit message:

android 2.0 implemented (untested!)

Changed in this revision

--- a/AndroidADKTerm/android.cpp	Thu Apr 11 07:09:48 2013 +0000
+++ b/AndroidADKTerm/android.cpp	Thu Apr 11 09:22:35 2013 +0000
@@ -1,78 +1,72 @@
 #include "android.h"
-
+//#define PI                    3.141592654f
 using namespace std;
 
-AdkTerm::AdkTerm() : AndroidAccessory(INBL,OUTL, "ARM", "mbed", "mbed Terminal", "0.1", "http://www.mbed.org", "0000000012345678")
+AdkTerm::AdkTerm(RobotControl* robotControl,
+                 state_t* s,
+                 float period)
+    : AndroidAccessory(INBL,
+                       OUTL,
+                       "ARM",
+                       "mbed",
+                       "mbed Terminal",
+                       "0.1",
+                       "http://www.mbed.org",
+                       "0000000012345678"),
+    Task(period)
 {
-
+    this->robotControl = robotControl;
+    this->period = period;
+    this->s = s;
 };
 
-
 void AdkTerm::setupDevice()
 {
-    settick = false;
     for (int i = 0; i<OUTL; i++) {
         buffer[i] = 0;
     }
     bcount = 0;
-    //n.attach(this,&AdkTerm::AttachTick,5);
-    //tick.attach(this,&AdkTerm::onTick,0.1);
 }
 
-float AdkTerm::getx()
+float AdkTerm::getDesiredX()
 {
-    return x/1000;
+    return desiredX/1000;
 }
 
-float AdkTerm::gety()
+float AdkTerm::getDesiredY()
 {
-    return y/1000;
+    return desiredY/1000;
 }
 
-float AdkTerm::gett()
+float AdkTerm::getDesiredTheta()
 {
-    return t * PI / 180;
-}
-
-/*void AdkTerm::AttachTick()
-{
-    if(!settick)tick.attach(this,&AdkTerm::onTick,0.04);
-    settick = true;
+    return desiredTheta * PI / 180;
 }
 
-void AdkTerm::onTick()
-{
-    right = 1-Right;
-    left = 1-Left;
-    bool update = false;
-    int templ, tempr;
 
-
+void AdkTerm::run()
+{
 
-    templ = int(left * 10000);
-    tempr = int(right * 10000);
-
-
+    u8* wbuf = _writebuff;
 
-    if (abs(templ-tl)>170) {
-        update = true;
-    }
-    if (abs(tempr-tr)>170) {
-        update = true;
-    }
-    if (update) {
-        u8* wbuf = _writebuff;
+    // floats to string
+    char str[32];
+    
+    //send to android
+    sprintf( str, "%f;%f;%f;%i;%i;%i;%f", robotControl->getxActualPosition(),
+             robotControl->getyActualPosition(),
+             robotControl->getActualTheta(),
+             s->state&STATE_UNDER == 0 ? 0 : 1,
+             s->state&STATE_LEFT == 0 ? 0 : 1,
+             s->state&STATE_RIGHT == 0 ? 0 : 1,
+             s->voltageBattery);
 
-        wbuf[0] = 'P';
-        wbuf[1] =  templ&0xFF;
-        wbuf[2] = (templ>>8) & 0xFF;
-        wbuf[3] =  tempr&0xFF;
-        wbuf[4] = (tempr>>8) & 0xFF;
-        wbuf[5] = 0;
+    //copy to wbuf
+    strcpy( (char*) wbuf, str );
 
-        this->write(wbuf,5);
-    }
-}*/
+    this->write(wbuf,32);
+
+}
 
 void AdkTerm::resetDevice()
 {
@@ -117,40 +111,14 @@
     if(tokens.size() > 2) {
 
         //string to float
-        x = ::atof(tokens.at(0).c_str());
-        y = ::atof(tokens.at(1).c_str());
-        t = ::atof(tokens.at(2).c_str());
-
-        //pc.printf("Android x(%d): %f\n\r\n",len,x);
-       // pc.printf("Android y(%d): %f\n\r\n",len,y);
-        //pc.printf("Android t(%d): %f\n\r\n",len,t);
-    } else {
-        //pc.printf("Android sayys(%d): %s\n\r\n",len,str);
+        desiredX = ::atof(tokens.at(0).c_str());
+        desiredY = ::atof(tokens.at(1).c_str());
+        desiredTheta = ::atof(tokens.at(2).c_str());
     }
 
-//   switch ( buf[0] ) {
-//       case 'x':
-//           if (buf[1] == ":"){pc.printf("X-Coordinate(%d): %s\n\r\n",len,buf)};
-//           break;
-//       case 'y':
-//           if (buf[1] == ":"){pc.printf("Y-Coordinate(%d): %s\n\r\n",len,buf)};
-//           break;
-//       case 't':
-//           if (buf[1] == ":"){pc.printf("Z-Coordinate(%d): %s\n\r\n",len,buf)};
-//           break;
-//       default:
-//           pc.printf("Command not recognized (%d): %s\n\r\n\n\n",len,buf);
-//   }
-
-
-    //AttachTick();
-
     return 0;
 }
 
-// split: receives a char delimiter; returns a vector of strings
-// By default ignores repeated delimiters, unless argument rep == 1.
-
 int AdkTerm::callbackWrite()
 {
     ind = false;
@@ -183,8 +151,4 @@
         }
     }
 
-}
-
-
-// gehört nicht mehr zur klasse für zum testen.......!!!!!!!!
-
+}
\ No newline at end of file

--- a/AndroidADKTerm/android.h	Thu Apr 11 07:09:48 2013 +0000
+++ b/AndroidADKTerm/android.h	Thu Apr 11 09:22:35 2013 +0000
@@ -1,6 +1,7 @@
 #ifndef _ANDROID_H_
 #define _ANDROID_H_
 
+#include "RobotControl.h"
 #include "mbed.h"
 #include "AndroidAccessory.h"
 #include "defines.h"
@@ -13,12 +14,10 @@
 /**
  * @author Arno Galliker
  *
- * @subsection LICENSE
- *
- * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
+ * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
  * All rights reserved.
  *
- * @subsection DESCRIPTION
+ * @brief
  *
  * This class implements communication with the android smartphone
  * For more information see the Android ADK Cookbook:
@@ -27,127 +26,116 @@
  * Originally created by p07gbar from work by Makoto Abe
  */
 
-#define OUTL 100
-#define INBL 100
+//#define OUTL 100
+//#define INBL 100
 
-class AdkTerm : public AndroidAccessory
+class AdkTerm : public AndroidAccessory, public Task
 {
 
 private:
     
-    /** Attaches a tick to send messages over the USB buffer in a certain interval */
-    void AttachTick();
+    /** @brief Instance of RobotControl*/
+    RobotControl* robotControl;
     
-    /** Method to call when a tick period is over */
-    void onTick();
-    
-    /** Char buffer with a size of OUTL */
+    float period;
+
+    /** @brief Char buffer with a size of OUTL */
     char buffer[OUTL];
     
-    /** Buffer count ??? */
+    state_t* s;
+
+    /** @brief Buffer count ??? */
     int bcount;
-    
-    /** Instance of ticker */
-    Ticker tick;
-    
-    //float right,left,rl,ll;
-    //int tl,tr;
-    
-    //Timeout n;
-    
-    /** States if tick is on */
-    bool settick;
-    
-    /** States if something is written to the buffer?? */
+
+    /** @brief States if something is written to the buffer?? */
     bool ind;
-    
-    /** Desired position in meters for x-coordinate, given by android */
-    float x;
-    
-    /** Desired position in meters for y-coordinate, given by android */
-    float y;
-    
-    /** Desired position in degrees for theta, given by android */
-    float t;
+
+    /** @brief Desired position in meters for x-coordinate, given by android */
+    float desiredX;
+
+    /** @brief Desired position in meters for y-coordinate, given by android */
+    float desiredY;
+
+    /** @brief Desired position in degrees for theta, given by android */
+    float desiredTheta;
 
 public:
 
     /**
-     * Creates a <code>AdkTerm</code> object and initializes all private
+     * @brief Creates a <code>AdkTerm</code> object and initializes all private
      * state variables. Constructor
+     * @param robotControl RobotControl obejct reference
+     * @param period length of a period in seconds
      */
-    AdkTerm();
+    AdkTerm(RobotControl* robotControl, state_t* s, float period);
 
     /**
-     * Sets initial configurations and clears the buffer 
-     * 
+     * @brief Sets initial configurations and clears the buffer
+     *
      */
     void setupDevice();
 
     /**
-     * Returns the desired position in meters for x-coordinate, given by android
+     * @brief Returns the desired position in meters for x-coordinate, given by android
      * @return x-coordinate,given in [m]
      */
-    float getx();
+    float getDesiredX();
 
     /**
      * Returns the desired position in meters for y-coordinate, given by android
      * @return y-coordinate,given in [m]
      */
-    float gety();
+    float getDesiredY();
 
-     /**
-     * Returns the esired position in degrees for theta, given by android
-     * @return y-coordinate,given in degrees [°]
-     */
-    float gett();
+    /**
+    * @brief Returns the esired position in degrees for theta, given by android
+    * @return y-coordinate,given in degrees [°]
+    */
+    float getDesiredTheta();
+
+    /** @brief Method to call when a tick period is over */
+    void onTick();
 
 private:
 
     /**
-     *
-     *
-     */
-    //void AttachTick();
-
-    /**
-     *
-     *
-     */
-    // void onTick();
-
-    /**
-     * Clears the buffer and bcount
-     *
+     * @brief Clears the buffer and bcount
      */
     void resetDevice();
 
     /**
-     * Takes an string, a vector of strings for the delimited tokens, and a with the 
+     * @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 Tokenize(const string& str,
+                  vector<string>& tokens,
+                  const string& delimiters = " ");
 
     /**
-     *
+     * @brief
      * @param buf
      * @param len
      */
     int callbackRead(u8 *buf, int len);
 
     /**
-     *
+     * @brief
      *
      */
     int callbackWrite();
 
     /**
-     *
+     * @brief
      *
      */
     void serialIRQ();
+    
+    /**
+     * @brief Run method actualize every period
+     */
+    void run();
 
 };
 

--- a/RobotControl/RobotControl.cpp	Thu Apr 11 07:09:48 2013 +0000
+++ b/RobotControl/RobotControl.cpp	Thu Apr 11 09:22:35 2013 +0000
@@ -159,7 +159,7 @@
 
 float RobotControl::getDistanceError()
 {
-    return sqrt( ( getxPositionError() * getxPositionError() ) + (getyPositionError() * getyPositionError() ) );
+    return sqrt( ( getxPositionError() * getxPositionError() ) + ( getyPositionError() * getyPositionError() ) );
 }
 
 float RobotControl::getThetaErrorToGoal()

--- a/defines.h	Thu Apr 11 07:09:48 2013 +0000
+++ b/defines.h	Thu Apr 11 09:22:35 2013 +0000
@@ -192,7 +192,7 @@
 /**
  * @brief 10Hz Rate for the Android communication , given in [s]
  */
-#define PERIOD_ANDROID        0.1f
+#define PERIOD_ANDROID        0.5f
 /*! @} */
 
 /**
@@ -254,6 +254,7 @@
     float setVelocity;
     /** @brief Setpoint rotation velocitiy [rad/s] */
     float setOmega;
+    /** @brief State of the car */
     int state;
     /** @brief distance to Goal */
     float rho;

--- a/main.cpp	Thu Apr 11 07:09:48 2013 +0000
+++ b/main.cpp	Thu Apr 11 09:22:35 2013 +0000
@@ -36,19 +36,7 @@
 #include "defines.h"
 #include "State.h"
 #include "RobotControl.h"
-//#include "android.h"
-
-/**
- * @name Communication
- * @{
- */
-
-/**
- * @brief <code>adkTerm</code> object is for the communication with a smartphone.
- * The operation system must be a android.
- */
-//AdkTerm adkTerm;
-/*! @} */
+#include "android.h"
 
 /**
  * @name Hallsensor
@@ -108,8 +96,21 @@
 State state(&s, &robotControl, &leftMotor, &rightMotor, p15, PERIOD_STATE);
 /*! @} */
 
+/**
+ * @name Communication
+ * @{
+ */
+
+/**
+ * @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);
+/*! @} */
+
+
 // @todo PC USB communications DAs wird danach gelöscht
-//Serial pc(USBTX, USBRX);
+Serial pc(USBTX, USBRX);
 
 /**
 * @brief Main function. Start the Programm here.
@@ -140,6 +141,15 @@
     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();
+    
+    adkTerm.start();
 
 
     // robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
@@ -147,7 +157,7 @@
     // wait(0.1);
 
     //////////////////////////////////////////
-
+/*
     robotControl.setDesiredPositionAndAngle(0.0f, 1.0f,  PI);
     while(!(robotControl.getDistanceError() <= 0.1)) {
         state.savePlotFile(s);
@@ -173,7 +183,7 @@
         state.savePlotFile(s);
     };
 
-
+*/
 
 
 
@@ -295,24 +305,16 @@
         }
 
     */
-
-
-
-    /*
-
-        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();
+       
         while (1) {
             USBLoop();
 
-            pc.printf("Android x: %f ",adkTerm.getx());
-            pc.printf("Android y: %f ",adkTerm.gety());
-            pc.printf("Android t: %f\n",adkTerm.gett());
-            robotControl.setDesiredPositionAndAngle(adkTerm.getx(), adkTerm.gety(),  adkTerm.gett());
+            pc.printf("From Android x: %f   y: %f  t: %f",adkTerm.getDesiredX(), adkTerm.getDesiredY(),adkTerm.getDesiredTheta());
+            robotControl.setDesiredPositionAndAngle(adkTerm.getDesiredX(), adkTerm.getDesiredY(),  adkTerm.getDesiredTheta());
+            
+            pc.printf( "To Android: x: %f   y: %f   t: %f; \n \n", robotControl.getxActualPosition(),
+             robotControl.getyActualPosition(),
+             robotControl.getActualTheta());
         }