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:
33:ac39982fd3b2
Parent:
32:767044a3e421
Child:
34:62996eed658a
--- a/main.cpp	Mon May 20 17:40:08 2013 +0000
+++ b/main.cpp	Tue May 21 17:42:50 2013 +0000
@@ -113,9 +113,10 @@
 {
 
     /**
-     * Check at first the Battery voltage. Starts when the voltage is greater than 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
+     * and start the Task for logging.
      **/
     state.start();
     
@@ -145,7 +146,7 @@
     robotControl.start();
 
     /**
-     * Clear all Errors of the ESCON Module, with a disabled to enable event
+     * Clear all Errors of the ESCON Module, with a disabled to enable event.
      */
     robotControl.setEnable(false);
     wait(0.01);
@@ -164,7 +165,7 @@
         ADB::poll();
         if (getDesiredTheta() > (2 * PI)) {
             /**
-            * Runs at first till the Startbutton has pressed
+            * Runs at first till the Startbutton has pressed.
             */
             state.startTimerFromZero();
             robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
@@ -191,7 +192,7 @@
 
     /**
      * Sets the acutal value for a fast stop.
-     * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm
+     * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm.
      */
     robotControl.setDesiredPositionAndAngle(robotControl.getxActualPosition(),
                                             robotControl.getyActualPosition(),
@@ -202,7 +203,7 @@
     rightMotor.setVelocity(0.0f);
 
     /**
-     * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm
+     * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm.
      */
     state.savePlotFile(s);
     state.closePlotFile();
@@ -211,7 +212,7 @@
     robotControl.stop();
 
     /**
-    * Fast PWM sample for the end
+    * Fast PWM sample for the end.
     */
     while(1) {
         for (float f = 0.1f; f < 6.3f; f += 0.1f) {