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 25:e16f96fd7d21, committed 2013-05-19

Comitter:
chrigelburri
Date:
Sun May 19 15:12:04 2013 +0000
Parent:
24:08241be546ba
Child:
26:a201dcd4e618
Commit message:
ja soo epp? ????

Changed in this revision

defines.h Show annotated file Show diff for this revision Revisions of this file 
--- a/defines.h	Sun May 19 14:54:49 2013 +0000
+++ b/defines.h	Sun May 19 15:12:04 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]
@@ -57,7 +57,7 @@
 /**
  * @brief Distance of the wheel, given in [m] Greater --> turn more
  */
-#define WHEEL_DISTANCE        0.17350f  // 0.17500f
+#define WHEEL_DISTANCE        0.1735f  // 0.17500f
 
 /**
  * @brief Sets the start X-point, 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