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>
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Diff: main.cpp
- Revision:
- 16:b5d949136a21
- Parent:
- 15:cb1337567ad4
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--- a/main.cpp Fri Apr 26 06:02:41 2013 +0000 +++ b/main.cpp Fri Apr 26 06:36:57 2013 +0000 @@ -36,7 +36,7 @@ #include "defines.h" #include "State.h" #include "RobotControl.h" -#include "android.h" +//#include "android.h" /** * @name Hallsensor @@ -105,12 +105,12 @@ * @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); +//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. @@ -123,7 +123,7 @@ * start the timer for the Logging to the file * and start the Task for logging **/ - //state.initPlotFile(); + state.initPlotFile(); state.startTimerFromZero(); state.start(); @@ -131,17 +131,17 @@ * Clear all Errors of the ESCON Module, with a disabled to enable event */ robotControl.setEnable(false); - wait(0.1); + wait(0.01); robotControl.setEnable(true); wait(0.1); /** * Set the startposition and start the Task for controlling the roboter. */ - robotControl.setAllToZero(0, 0, PI/2 ); - //robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); + //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"); @@ -153,7 +153,7 @@ adkTerm.start(); - /* + */ // Epä Parkour fahrä @@ -170,7 +170,7 @@ state.savePlotFile(s); }; - robotControl.setDesiredPositionAndAngle(-0.55f, 3.0f, PI/2); //0.75 + robotControl.setDesiredPositionAndAngle(-0.5f, 3.0f, PI/2); //0.75 while(!(robotControl.getDistanceError() <= 0.7)) { state.savePlotFile(s); }; @@ -197,7 +197,7 @@ }; robotControl.setDesiredPositionAndAngle(-2.65f, 1.30f, -PI/2); - while(!(robotControl.getDistanceError() <= 0.1)) { + while(!(robotControl.getDistanceError() <= 0.4)) { state.savePlotFile(s); }; robotControl.setDesiredPositionAndAngle(-2.65f, 0.80f, -PI/2); @@ -205,8 +205,8 @@ state.savePlotFile(s); } - */ - + + /* while (1) { USBLoop(); @@ -219,8 +219,8 @@ pc.printf( "To Android: x: %f y: %f t: %f; \n \n", robotControl.getxActualPosition(), robotControl.getyActualPosition(), - robotControl.getActualTheta());*/ - } + robotControl.getActualTheta()); + }*/