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 33:ac39982fd3b2, committed 2013-05-21

Comitter:
chrigelburri
Date:
Tue May 21 17:42:50 2013 +0000
Parent:
32:767044a3e421
Child:
34:62996eed658a
Commit message:
korrigiert christian

Changed in this revision

MicroBridge/androidADB.cpp Show annotated file Show diff for this revision Revisions of this file
MicroBridge/androidADB.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/MicroBridge/androidADB.cpp	Mon May 20 17:40:08 2013 +0000
+++ b/MicroBridge/androidADB.cpp	Tue May 21 17:42:50 2013 +0000
@@ -117,12 +117,6 @@
 
 }
 
-//////// Brachts dies noch?????????
-void write2Android(char str [32])
-{
-    connection->write(sizeof(str),(unsigned char*)&str);
-}
-
 void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b)
 {
     // reconnect funktioniert trotzdem nicht!?

--- a/MicroBridge/androidADB.h	Mon May 20 17:40:08 2013 +0000
+++ b/MicroBridge/androidADB.h	Tue May 21 17:42:50 2013 +0000
@@ -4,7 +4,6 @@
 #include "mbed.h"
 #include "Adb.h"
 #include "defines.h"
-#include "RobotControl.h"
 
 #include <string>
 #include <sstream>
@@ -23,15 +22,14 @@
               const string& delimiters = " ");
 
 /**
-* @brief @todo
-* @param length
-* @param data
+* @brief Parse the Message, split and save it to the Attributes.
+* @param length length of the data
+* @param data Data to parse
 */
 void parseMessage(uint16_t length, uint8_t * data);
 
 /**
-* @brief @todo
-* Connecting to android.
+* @brief Connecting to android.
 */
 void connect();
 
@@ -65,19 +63,14 @@
 void init();
 
 /**
-* @brief @todo
-* @param str
-*/
-void write2Android(char str [32]);
-
-/**
 * @brief Write the Parameterlist to the android smartphone.
-* @param x
-* @param y
-* @param t
-* @param state_u
-* @param state_r
-* @param volt_b
+* @param x Acutal X-Position
+* @param y Acutal Y-Position
+* @param t Acutal &theta;-Position
+* @param state_u Actual State Undervoltage
+* @param state_l Actual Left State
+* @param state_r Actual Right State
+* @param volt_b Actual battery voltage
 */
 void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b);
 

--- a/main.cpp	Mon May 20 17:40:08 2013 +0000
+++ b/main.cpp	Tue May 21 17:42:50 2013 +0000
@@ -113,9 +113,10 @@
 {
 
     /**
-     * Check at first the Battery voltage. Starts when the voltage is greater than the min is.
+     * 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
+     * and start the Task for logging.
      **/
     state.start();
     
@@ -145,7 +146,7 @@
     robotControl.start();
 
     /**
-     * Clear all Errors of the ESCON Module, with a disabled to enable event
+     * Clear all Errors of the ESCON Module, with a disabled to enable event.
      */
     robotControl.setEnable(false);
     wait(0.01);
@@ -164,7 +165,7 @@
         ADB::poll();
         if (getDesiredTheta() > (2 * PI)) {
             /**
-            * Runs at first till the Startbutton has pressed
+            * Runs at first till the Startbutton has pressed.
             */
             state.startTimerFromZero();
             robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
@@ -191,7 +192,7 @@
 
     /**
      * Sets the acutal value for a fast stop.
-     * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm
+     * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm.
      */
     robotControl.setDesiredPositionAndAngle(robotControl.getxActualPosition(),
                                             robotControl.getyActualPosition(),
@@ -202,7 +203,7 @@
     rightMotor.setVelocity(0.0f);
 
     /**
-     * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm
+     * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm.
      */
     state.savePlotFile(s);
     state.closePlotFile();
@@ -211,7 +212,7 @@
     robotControl.stop();
 
     /**
-    * Fast PWM sample for the end
+    * Fast PWM sample for the end.
     */
     while(1) {
         for (float f = 0.1f; f < 6.3f; f += 0.1f) {