Christian Burri / Mbed 2 deprecated autonomousRobotAndroid

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>

Dependencies:   mbed

Fork of autonomousRobotAndroid by Christian Burri

Diff: main.cpp

Revision:
14:6a45a9f940a8
Parent:
13:a7c30ee09bae
Child:
15:cb1337567ad4
--- 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());
         }