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:
32:767044a3e421
Parent:
30:c32fc6174efe
Child:
33:ac39982fd3b2
--- a/main.cpp	Mon May 20 17:31:16 2013 +0000
+++ b/main.cpp	Mon May 20 17:40:08 2013 +0000
@@ -106,9 +106,6 @@
 
 /*! @} */
 
-// @todo PC USB communications DAs wird danach gelöscht
-Serial pc(USBTX, USBRX);
-
 /**
 * @brief Main function. Start the Programm here.
 */
@@ -116,11 +113,12 @@
 {
 
     /**
-     * Check at first the Battery voltage. Starts when the voltages greater as the min is.
+     * Check at first the Battery voltage. Starts when the voltage is greater than the min is.
      * start the timer for the Logging to the file
      * and start the Task for logging
      **/
     state.start();
+    
     while(s.voltageBattery < BAT_MIN) {
         for (float f = 0.1f; f < 6.3f; f += 0.1f) {
             for(int i = 0; i <= 3; i  ++) {
@@ -155,19 +153,15 @@
     wait(0.1);
     robotControl.setEnable(false);
 
-    // Verbindung zum putty kann spöter gelöscht werden......
-    pc.baud(460800);
-    pc.printf("********************* MicroBridge 4568 ********************************\n\r");
-
     /**
     * Initialise the ADB subsystem.
+    * Set Theta for to go to Startloop.
     */
     init();
     setDesiredTheta(400.0f);
-    pc.printf("connection isOpen\n");
 
     while(getDesiredTheta() < (4 * PI)) {
-        ADB::poll();        
+        ADB::poll();
         if (getDesiredTheta() > (2 * PI)) {
             /**
             * Runs at first till the Startbutton has pressed
@@ -183,9 +177,7 @@
             state.savePlotFile(s);
             wait(PERIOD_ANDROID/2);
             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(),
@@ -193,8 +185,6 @@
                             s.state&STATE_LEFT,
                             s.state&STATE_RIGHT,
                             s.voltageBattery);
-        //connection->write(sizeof(str),(unsigned char*)&str);
-
         wait(PERIOD_ANDROID/2);
 
     }
@@ -210,9 +200,6 @@
     state.savePlotFile(s);
     leftMotor.setVelocity(0.0f);
     rightMotor.setVelocity(0.0f);
-  //  while(!(s.millis >= 15000)) {
-  //      state.savePlotFile(s);
-  //  };
 
     /**
      * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm
@@ -242,5 +229,5 @@
         }
         wait(0.05);
     }
-
+    
 }