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>
Fork of autonomousRobotAndroid by
main.cpp
- Committer:
- chrigelburri
- Date:
- 2013-03-21
- Revision:
- 5:48a258f6335e
- Parent:
- 4:3a97923ff2d4
- Child:
- 6:48eeb41188dd
File content as of revision 5:48a258f6335e:
/** * @file main.cpp * @author Christian Burri * * @section LICENSE * * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe * All rights reserved. * * @section DESCRIPTION * * This Programm is for a autonomous robot for the competition * at the Hochschule Luzern. * We are one of the 32 teams. In the team #1 is: * - Bauernfeind Julia <B>WI</B> <a href="julia.bauernfeind@stud.hslu.ch">julia.bauernfeind@stud.hslu.ch</a> * - Büttler Pirmin <B>WI</B> <a href="pirmin.buetler@stud.hslu.ch">pirmin.buetler@stud.hslu.ch</a> * - Amberg Reto <B>I</B> <a href="reto.amberg@stud.hslu.ch">reto.amberg@stud.hslu.ch</a> * - Galliker Arno <B>I</B> <a href="arno.galliker@stud.hslu.ch">arno.galliker@stud.hslu.ch</a> * - Amrein Marcel <B>M</B> <a href="marcel.amrein@stud.hslu.ch">marcel.amrein@stud.hslu.ch</a> * - Flühler Ramon <B>M</B> <a href="ramon.fluehler@stud.hslu.ch">ramon.fluehler@stud.hslu.ch</a> * - Burri Christian <B>ET</B> <a href="christian.burri@stud.hslu.ch">christian.burri@stud.hslu.ch</a> * * The postition control is based on polar coordiantes. * For more information see here: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a> * */ #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" // 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) //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); // 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(); state.initPlotFile(); robotControl.start(); robotControl.setEnable(false); wait(0.01); robotControl.setEnable(true); wait(0.01); robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); leftMotor.setPulses(0); rightMotor.setPulses(0); state.startTimerFromZero(); state.start(); robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); wait(0.1); robotControl.setDesiredPositionAndAngle(-1.20f, 1.50f, 3*PI/4); while(!(robotControl.getDistanceError() <= 0.4)) { state.savePlotFile(s); }; robotControl.setDesiredPositionAndAngle(-1.20f, 2.5f, PI/4); while(!(robotControl.getDistanceError() <= 0.4)) { state.savePlotFile(s); }; robotControl.setDesiredPositionAndAngle(-0.45f, 3.2f, 3*PI/4); while(!(robotControl.getDistanceError() <= 0.4)) { state.savePlotFile(s); }; robotControl.setDesiredPositionAndAngle(-1.0f, 3.6f, PI); while(!(robotControl.getDistanceError() <= 0.2)) { state.savePlotFile(s); }; robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI); while(!(robotControl.getDistanceError() <= 0.03)) { state.savePlotFile(s); }; robotControl.setDesiredPositionAndAngle(-2.5f, 3.0f, -PI/2); while(!(robotControl.getDistanceError() <= 0.4)) { state.savePlotFile(s); }; robotControl.setDesiredPositionAndAngle(-1.75f, 1.30f, -PI/2); while(!(robotControl.getDistanceError() <= 0.04)) { state.savePlotFile(s); }; state.savePlotFile(s); state.closePlotFile(); state.stop(); robotControl.setEnable(false); }