Christian Burri / Mbed 2 deprecated autonomous Robot Android

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

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

Files at this revision

API Documentation at this revision

Revision 22:bfec16575c91, committed 2013-05-19

Comitter:
chrigelburri
Date:
Sun May 19 07:35:16 2013 +0000
Parent:
21:48248c5b8992
Child:
23:4d8173c5183b
Child:
24:08241be546ba
Commit message:
Eingestellt und mal so punkte gesetzt...

Changed in this revision

defines.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/defines.h	Fri May 17 06:39:44 2013 +0000
+++ b/defines.h	Sun May 19 07:35:16 2013 +0000
@@ -42,12 +42,12 @@
 /**
  * @brief Value for the diffrerenz between left an right, given in [m]
  */
-#define WHEEL_RADIUS_DIFF     0.0000f
+#define WHEEL_RADIUS_DIFF     0.0001f
 
 /**
- * @brief Radius of the left wheel, given in [m]
+ * @brief Radius of the left wheel, given in [m] kleiner --> weiter
  */
-#define WHEEL_RADIUS_LEFT     0.040280f
+#define WHEEL_RADIUS_LEFT     0.040190f    //0.040190f             
 
 /**
  * @brief Radius of the left wheel, given in [m]
@@ -57,7 +57,7 @@
 /**
  * @brief Distance of the wheel, given in [m] Greater --> turn more
  */
-#define WHEEL_DISTANCE        0.1873f  // 0.1870f 
+#define WHEEL_DISTANCE        0.17350f  // 0.17500f
 
 /**
  * @brief Sets the start X-point, given in [m]
@@ -110,7 +110,7 @@
 /**
  * @brief Speed Factor how get in the ESCON Studio
  */
-#define ESCON_GET_FACTOR      2452.4f
+#define ESCON_GET_FACTOR      2500.0f
 
 /**
  * @brief Error patch of the drift of Analog input and pwn output for set speed
@@ -131,12 +131,12 @@
 /**
  * @brief Main Gain for k1, k2 and k3
  */
-#define GAIN                  0.8f
+#define GAIN                  0.65f // 1.8f 0.65
 
 /**
  * @brief Gain k1 default 1.0f
  */
-#define K1                    0.8f * GAIN
+#define K1                    1.45f * GAIN  //0.8 1.2
 
 /**
  * @brief Gain k2 default 3.0f
@@ -152,7 +152,7 @@
  * @brief Min. Distance to switch the position controller off.
  * Because when Distance Error goes to zero the ATAN2 is not define, given in [m]
  */
-#define MIN_DISTANCE_ERROR    0.01f
+#define MIN_DISTANCE_ERROR    0.001f
 /*! @} */
 
 /**

--- a/main.cpp	Fri May 17 06:39:44 2013 +0000
+++ b/main.cpp	Sun May 19 07:35:16 2013 +0000
@@ -114,14 +114,25 @@
 int main()
 {
 
+    int garagenumber = 1;
+    float x = -2.954f + 0.308 * garagenumber;
+    float ypre = 1.30f;
+    float ygoal = 0.80f;
+
     /**
-     * Initialze the filt PLOTS.txt,
+     * 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
      **/
+    state.start();
+    state.initPlotFile();
+    state.closePlotFile();
+    while(s.voltageBattery < BAT_MIN) {}
+    state.stop();
+    wait(0.5);
+    state.start();
     state.initPlotFile();
     state.startTimerFromZero();
-    state.start();
 
     /**
      * Clear all Errors of the ESCON Module, with a disabled to enable event
@@ -134,99 +145,95 @@
     /**
      * Set the startposition and start the Task for controlling the roboter.
      */
-    robotControl.setAllToZero(0, 0, PI/2 );
-    //robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
+    // robotControl.setAllToZero(0, 0, PI/2 );
+    robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
     robotControl.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);
+    state.savePlotFile(s);
 
-           robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f,  3*PI/4);
-           while(!(robotControl.getDistanceError() <= 0.9)) {
-               state.savePlotFile(s);
-           };
+    /**
+     * Sets the desired Points.
+     */
+    robotControl.setDesiredPositionAndAngle(-1.35f, 1.85f,  3*PI/8);
+    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(-0.75f, 2.85f,  3*PI/8);
+    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(-2.1f, 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);
-           }
-    */
+    robotControl.setDesiredPositionAndAngle(-2.0f, 1.8f,  -PI/2);
+    while(!(robotControl.getDistanceError() <= 1.0)) {
+        state.savePlotFile(s);
+    };
+
+    robotControl.setDesiredPositionAndAngle(x, ypre,  -PI/2);
+    while(!(robotControl.getDistanceError() <= 0.4)) {
+        state.savePlotFile(s);
+    };
+    robotControl.setDesiredPositionAndAngle(x, ygoal, -PI/2);
+    while(!(s.millis >= 19000)) {
+        state.savePlotFile(s);
+    }
 
 
 
 
-    pc.baud(460800);
-    pc.printf("********************* MicroBridge 4568 ********************************\n\r");
 
-    init();
+    /*
+        pc.baud(460800);
+        pc.printf("********************* MicroBridge 4568 ********************************\n\r");
 
-    // Initialise the ADB subsystem.
-
-    pc.printf("connection isOpen\n");
+        init();
 
-    while(getDesiredTheta() < (4 * PI)) {
+        // Initialise the ADB subsystem.
 
-        ADB::poll();
+        pc.printf("connection isOpen\n");
 
-        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());
+        while(getDesiredTheta() < (4 * PI)) {
+
+            ADB::poll();
 
-         
-        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(0.25);
-
-    }
+            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());
 
 
+            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(0.25);
+
+        }
+
+    */
     /**
      * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm
      */