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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Revision 34:62996eed658a, committed 2013-05-25
- Comitter:
- chrigelburri
- Date:
- Sat May 25 05:44:14 2013 +0000
- Parent:
- 33:ac39982fd3b2
- Child:
- 36:4226e50a0bcd
- Commit message:
- vor dem rauskicken der adb;
Changed in this revision
--- a/MicroBridge/androidADB.h Tue May 21 17:42:50 2013 +0000 +++ b/MicroBridge/androidADB.h Sat May 25 05:44:14 2013 +0000 @@ -12,10 +12,28 @@ #include <stdlib.h> /** -* @brief Takes an string, a vector of strings for the delimited tokens, and a with the -* @param str -* @param tokens -* @param delimiters + * @author Arno Galliker + * + * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe + * All rights reserved. + * + * @brief + * + * This File is for the connection to te self written java android app. + * The connection works with the ADB class from rom Junichi Katsu. + * For more information see here: <a href="http://mbed.org/users/jksoft/code/MicroBridge/">http://mbed.org/users/jksoft/code/MicroBridge/</a> + */ + + /** + * @file androidADB.h + */ + +/** +* @brief Takes an string, a vector of strings for the delimited tokens. +* Tokens is the array to separated with the delimiters. +* @param str to +* @param tokens is the vecotr array +* @param delimiters of the string */ void Tokenize(const string& str, vector<string>& tokens,
--- a/defines.h Tue May 21 17:42:50 2013 +0000 +++ b/defines.h Sat May 25 05:44:14 2013 +0000 @@ -57,17 +57,17 @@ /** * @brief Distance of the wheel, given in [m] Greater --> turn more */ -#define WHEEL_DISTANCE 0.1721f // org.0.17500f alt: 0.173f +#define WHEEL_DISTANCE (0.1700f-0.001f) // org.0.17500f alt: 0.173f //(0.1700f-0.004f) immer zu weit links (0.1700f-0.006f) war mal gut aber jetz zu weit rechts /** * @brief Sets the start X-point, given in [m] */ -#define START_X_OFFSET -0.8f +#define START_X_OFFSET -0.850f//-0.8f /** * @brief Sets the start Y-point, given in [m] */ -#define START_Y_OFFSET 0.8f +#define START_Y_OFFSET 0.775f//0.8f /*! @} */ /** @@ -193,24 +193,9 @@ /** * @brief 10Hz Rate for the Android communication , given in [s] */ -#define PERIOD_ANDROID 0.025f +#define PERIOD_ANDROID (0.025f*2) /*! @} */ -/** - * @name Android Buffer Size for communication - * @{ - */ - -/** - * @brief Buffer Output - */ -#define OUTL 100 - -/** - * @brief Buffer Input - */ -#define INBL 100 -/*! @} */ /** * @brief struct state
--- a/main.cpp Tue May 21 17:42:50 2013 +0000 +++ b/main.cpp Sat May 25 05:44:14 2013 +0000 @@ -113,13 +113,13 @@ { /** - * Check at first the Battery voltage. Starts when the voltage + * 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 ++) { @@ -144,7 +144,7 @@ state.initPlotFile(); state.startTimerFromZero(); robotControl.start(); - +/* /** * Clear all Errors of the ESCON Module, with a disabled to enable event. */ @@ -198,14 +198,14 @@ robotControl.getyActualPosition(), robotControl.getActualTheta()); robotControl.stop(); - state.savePlotFile(s); leftMotor.setVelocity(0.0f); rightMotor.setVelocity(0.0f); + wait(2); + /** * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm. */ - state.savePlotFile(s); state.closePlotFile(); state.stop(); robotControl.setEnable(false); @@ -230,5 +230,4 @@ } wait(0.05); } - }