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

Files at this revision

API Documentation at this revision

Revision 26:a201dcd4e618, committed 2013-05-20

Comitter:
chrigelburri
Date:
Mon May 20 09:41:47 2013 +0000
Parent:
25:e16f96fd7d21
Child:
27:a13ede88e75f
Child:
28:b3e195e80439
Child:
35:0e9ba5f20512
Commit message:
drive in all garage with mbed; stop works

Changed in this revision

defines.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/defines.h	Sun May 19 15:12:04 2013 +0000
+++ b/defines.h	Mon May 20 09:41:47 2013 +0000
@@ -57,7 +57,7 @@
 /**
  * @brief Distance of the wheel, given in [m] Greater --> turn more
  */
-#define WHEEL_DISTANCE        0.1735f  // 0.17500f
+#define WHEEL_DISTANCE        0.173f  // org.0.17500f alt: 0.173f
 
 /**
  * @brief Sets the start X-point, given in [m]

--- a/main.cpp	Sun May 19 15:12:04 2013 +0000
+++ b/main.cpp	Mon May 20 09:41:47 2013 +0000
@@ -125,10 +125,10 @@
 int main()
 {
 
-    int garagenumber = 1;
+    int garagenumber = 2;
     float x = -2.954f + 0.308 * garagenumber;
     float ypre = 1.30f;
-    float ygoal = 0.80f;
+    float ygoal = 0.60f;
 
     /**
      * Check at first the Battery voltage. Starts when the voltages greater as the min is.
@@ -178,7 +178,8 @@
     robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
     robotControl.start();
     robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
-    wait(0.1);
+    
+    wait(0.02);
     state.savePlotFile(s);
 
     /**
@@ -198,14 +199,9 @@
     while(!(robotControl.getDistanceError() <= 0.55)) {
         state.savePlotFile(s);
     };
-
+//QR
     robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f,  PI);
-    while(!(robotControl.getDistanceError() <= 0.05)) {
-        state.savePlotFile(s);
-    };
-
-    robotControl.setDesiredPositionAndAngle(-2.1f, 3.0f,  -PI/2);
-    while(!(robotControl.getDistanceError() <= 1.0)) {
+    while(!(robotControl.getDistanceError() <= 0.075)) {
         state.savePlotFile(s);
     };
 
@@ -219,11 +215,20 @@
         state.savePlotFile(s);
     };
     robotControl.setDesiredPositionAndAngle(x, ygoal, -PI/2);
-    while(!(s.millis >= 19000)) {
+    while(!(robotControl.getDistanceError() <= 0.2)) {
         state.savePlotFile(s);
     }
 
 
+/// STOP Setze actueler Wert
+    robotControl.setDesiredPositionAndAngle(robotControl.getxActualPosition(), robotControl.getyActualPosition(), robotControl.getActualTheta());
+    robotControl.stop();
+    state.savePlotFile(s);
+    leftMotor.setVelocity(0.0f);
+    rightMotor.setVelocity(0.0f);
+    while(!(s.millis >= 15000)) {
+        state.savePlotFile(s);
+    };