Christian Burri
This program is for an autonomous robot for the competition at the Hochschule Luzern. We are one of the 32 teams. <a href="http://cruisingcrepe.wordpress.com/">http://cruisingcrepe.wordpress.com/</a> 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: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
Fork of
autonomousRobotAndroid
by 
Christian Burri
Diff: main.cpp
- Revision:
- 8:696c2f9dfc62
- Parent:
- 7:34be8b3a979c
- Child:
- 9:d3cdcdef9719
--- a/main.cpp Tue Mar 26 08:29:43 2013 +0000
+++ b/main.cpp Sat Mar 30 06:55:08 2013 +0000
@@ -1,6 +1,6 @@
/**
* \mainpage Index Page
- *
+ *
* @file main.cpp
* @author Christian Burri
*
@@ -91,140 +91,110 @@
// compass.start();
state.initPlotFile();
+ state.startTimerFromZero();
+ state.start();
- robotControl.start();
robotControl.setEnable(false);
wait(0.1);
robotControl.setEnable(true);
wait(0.1);
robotControl.setAllToZero(0, 0, PI/2 );
- // robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
+ robotControl.start();
+ // robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
+
+
+ // robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+ // robotControl.setDesiredPositionAndAngle(0, 0, PI/2);
+ // wait(0.1);
+
+ //////////////////////////////////////////
- leftMotor.setPulses(0);
- rightMotor.setPulses(0);
+ robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
- state.startTimerFromZero();
- state.start();
+ robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
- // robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
- // robotControl.setDesiredPositionAndAngle(0, 0, PI/2);
- // wait(0.1);
-
- //////////////////////////////////////////
+ robotControl.setDesiredPositionAndAngle(-1.0f, 0.0f, 0);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(0.0f, -0.8f, PI/2);
+ while(!(robotControl.getDistanceError() <= 0.05)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(0.0f, -0.2f, PI/2);
+ while(!(robotControl.getDistanceError() <= 0.05)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2);
+ while(!(s.millis >= 65000)) {
+ state.savePlotFile(s);
+ };
+
+
+
+
+
+ ///////////////////////stay
/*
- robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI);
- while(!(robotControl.getDistanceError() <= 0.1)) {
+ robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2);
+ while(!(s.millis >= 25000)) {
state.savePlotFile(s);
};
+ */
+ //////////////////////////stay
- robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.1)) {
- state.savePlotFile(s);
- };
+
+
+
+
+
+
+ ////////////////////////////////////////////////////////////////////////
+
+
- robotControl.setDesiredPositionAndAngle(-1.0f, 0.0f, 0);
- while(!(robotControl.getDistanceError() <= 0.1)) {
- state.savePlotFile(s);
- };
-
- robotControl.setDesiredPositionAndAngle(0.0f, -0.8f, PI/2);
- while(!(robotControl.getDistanceError() <= 0.05)) {
- state.savePlotFile(s);
- };
-
- robotControl.setDesiredPositionAndAngle(0.0f, -0.2f, PI/2);
+ //Zum Umfang einstellen 2m fahren
+ /*
+ robotControl.setDesiredPositionAndAngle(0.0f, 4.0f, PI/2);
+ while(!(s.millis >= 30000)) {
+ state.savePlotFile(s);
+ };
+ */
+
+
+
+ ///////////////oder//////////////////e
+
+
+ // Zum radabstand einstellen
+
+ /*
+ robotControl.setDesiredPositionAndAngle(-0.7f, 1.0f, PI);
while(!(robotControl.getDistanceError() <= 0.05)) {
state.savePlotFile(s);
};
- robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2);
- while(!(s.millis >= 65000)) {
- state.savePlotFile(s);
- };
- */
-
- ///////////////////////stay
-
- robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2);
- while(!(s.millis >= 65000)) {
+ robotControl.setDesiredPositionAndAngle(-0.8f, 1.0f, PI);
+ while(!(robotControl.getDistanceError() <= 0.05)) {
state.savePlotFile(s);
};
-
- //////////////////////////stay
-
-
-
-
-
-
-
-
-
-
- ////////////////////////////////////////////////////////////////////////
-
-
-
- //Zum Umfang einstellen 2m fahren
-
- robotControl.setDesiredPositionAndAngle(0.0f, 2.0f, PI/2);
- while(!(s.millis >= 30000)) {
- state.savePlotFile(s);
- };
-
-
-
-
- ///////////////oder//////////////////
- // Zum radabstand einstellen
-
- /*
- robotControl.setDesiredPositionAndAngle(-0.94f, 0.68f, PI);
- while(!(s.millis >= 30000)) {
- state.savePlotFile(s);
- }
- /*
-
- /*
- int sek = 0;
- int step = 5000;
- int i = 0;
- int totalTurns = 2;
-
- sek += step;
-
- while(i <= totalTurns) {
- robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, PI);
- while(!(s.millis >= sek)) {
+ robotControl.setDesiredPositionAndAngle(-1.0f, 1.0f, PI);
+ while(!(s.millis >= 30000)) {
state.savePlotFile(s);
- };
- sek += step;
+ }
+ */
- robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, -PI/2);
- while(!(s.millis >= sek)) {
- state.savePlotFile(s);
- };
- sek += step;
-
- robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, 0);
- while(!(s.millis >= sek)) {
- state.savePlotFile(s);
- };
- sek += step;
-
- robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, PI/2);
- while(!(s.millis >= sek)) {
- state.savePlotFile(s);
- };
- sek += step;
-
- i++;
- }
-
-
-*/
////////////////////////////////////////////////////////
@@ -232,51 +202,51 @@
// 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);
- robotControl.setDesiredPositionAndAngle(-1.20f, 1.50f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.20f, 1.50f, 3*PI/4);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.20f, 2.5f, PI/4);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.20f, 2.5f, PI/4);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-0.45f, 3.2f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-0.45f, 3.2f, 3*PI/4);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.0f, 3.6f, PI);
- while(!(robotControl.getDistanceError() <= 0.2)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.0f, 3.6f, PI);
+ while(!(robotControl.getDistanceError() <= 0.2)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI);
- while(!(robotControl.getDistanceError() <= 0.1)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-2.5f, 3.0f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-2.5f, 3.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.75f, 1.30f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.06)) {
- state.savePlotFile(s);
- };
-
+ robotControl.setDesiredPositionAndAngle(-1.75f, 1.30f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.06)) {
+ state.savePlotFile(s);
+ };
+
- */
-
-
-
-
+ */
+
+
+
+
/*
printf("here we go... \n");
AdkTerm.setupDevice();