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

main.cpp

Committer:
chrigelburri
Date:
2013-02-07
Revision:
0:31f7be68e52d
Child:
1:6cd533a712c6

File content as of revision 0:31f7be68e52d:

/*
 * main.cpp
 * Copyright (c) 2012, Pren Team1 HSLU T&A
 * All rights reserved.
 */

///////////////////////////////////////////////////////////////////////////////////////////////////////
// INCLUDES
///////////////////////////////////////////////////////////////////////////////////////////////////////
#include "mbed.h"
#include "math.h"
#include "defines.h"
#include "State.h"
#include "HMC5883L.h"
#include "HMC6352.h"
#include "RobotControl.h"
#include "Ping.h"
#include "PowerControl/EthernetPowerControl.h"
#include "Android.h"


// LiPo Batterie
AnalogIn battery(p15);           // Battery check

// compass
//HMC5883L compass(p9, p10, PERIOD_COMPASS);       // sda, sdl (I2C)
HMC6352 compass(p9, p10, PERIOD_COMPASS);        // sda, sdl (I2C)


// ultrasonic sensor
//Ping ultrasonic(p30);

//Hallsensor
//hall1, hall2, hall3
Hallsensor hallLeft(p18, p17, p16);
//hall1, hall2, hall3
Hallsensor hallRight(p27, p28, p29);

// Motors
//enb, ready, pwm, actualSpeed, Hallsensor object
MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft);
//enb, ready, pwm, actualSpeed, Hallsensor object
MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight);

// Robot Control
RobotControl robotControl (&leftMotor, &rightMotor, &compass, PERIOD_ROBOTCONTROL);

// Logging & State
state_t s; // stuct state
State state(&s, &robotControl, &leftMotor, &rightMotor, &compass, &battery, PERIOD_STATE);

// Communication

//Android android(&s, &robotControl, &leftMotor, &rightMotor, PERIOD_ANDROID);

// PC USB communications
Serial pc(USBTX, USBRX);

DigitalOut myled(LED1);

float magout[3] = {0};

// LiPo Batterie
float batterie_voltage;

int main()
{

    /** Normal mbed power level for this setup is around 690mW
    * assuming 5V used on Vin pin
    * If you don't need networking...
    * Power down Ethernet interface - saves around 175mW
    * Also need to unplug network cable - just a cable sucks power
    */
    PHY_PowerDown();

    robotControl.start();
    compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
    compass.start();

    robotControl.setEnable(false);
    wait(1);
    robotControl.setEnable(true);
    wait(1);


}