Revision 15:cb1337567ad4, committed 2013-04-26

Comitter:

chrigelburri

Date:

Fri Apr 26 06:02:41 2013 +0000

Parent:

14:6a45a9f940a8

Child:

16:b5d949136a21

Commit message:

Vor dem ?ndern f?r das Testat2. Weil das andorid auskommentiert werden muss....

Changed in this revision

--- a/ActuatorsSensor/Hallsensor.h	Thu Apr 11 09:22:35 2013 +0000
+++ b/ActuatorsSensor/Hallsensor.h	Fri Apr 26 06:02:41 2013 +0000
@@ -11,7 +11,7 @@
  *
  * @brief
  *
- * Interface to count the Hallsensor input from a EC-Motor.
+ * Interface to count the Hallsensor input from an EC-Motor.
  *
  */
 class Hallsensor
@@ -41,7 +41,7 @@
     /**
      * @brief Constructor of the class <code>Hallsensor</code>.
      *
-     * Reads the current values on Hall1 , Hall2 and Hall3 to determine the
+     * Reads the current values on Hall1, Hall2 and Hall3 to determine the
      * initial state.
      * Attaches the encode function to the rise/fall interrupt edges of
      * Hall1, Hall2 and Hall3.

--- a/ActuatorsSensor/MaxonESCON.h	Thu Apr 11 09:22:35 2013 +0000
+++ b/ActuatorsSensor/MaxonESCON.h	Fri Apr 26 06:02:41 2013 +0000
@@ -53,14 +53,14 @@
     /** 
      * @brief Set the speed of the motor with a pwm for 10%..90%.
      * 50% PWM is 0rpm.
-     * Caclulate from [1/s] in [1/min] and the Factor of the ESCON.
+     * Caclulate from [1/s] in [1/min] and the factor of the ESCON.
      * @param speed The speed of the motor as a normalised value, given in [1/s]
      */
     void setVelocity(float speed);
 
     /** 
      * @brief Return the speed from ESCON.
-     * 0 rpm is defined in the Analog input as 1.65V
+     * 0 rpm is defined in the analog input as 1.65V
      * @return speed of the motor, given in [1/s]
      */
     float getActualSpeed(void);
@@ -73,7 +73,7 @@
     void period(float period);
 
     /** 
-     * @brief Set the Motor to a enable sate.
+     * @brief Set the motor to a enable sate.
      * @param enb <code>false</code> for disable <code>true</code> for enable.
      */
     void enable(bool enb);
@@ -86,13 +86,13 @@
     bool isEnabled(void);
 
     /**
-     * @brief Return the number of Pulses.
+     * @brief Return the number of pulses.
      * @return Pulses, given in [count]
      */
     int getPulses(void);
 
     /**
-     * @brief Set the Pulses of the Motor, given in [count]
+     * @brief Set the pulses of the motor, given in [count]
      * @return Pulses, given in [count]
      */
     int setPulses(int setPos);

--- a/AndroidADKTerm/android.cpp	Thu Apr 11 09:22:35 2013 +0000
+++ b/AndroidADKTerm/android.cpp	Fri Apr 26 06:02:41 2013 +0000
@@ -50,12 +50,12 @@
     u8* wbuf = _writebuff;
 
     // floats to string
-    char str[32];
+    char str[100];
     
     //send to android
-    sprintf( str, "%f;%f;%f;%i;%i;%i;%f", robotControl->getxActualPosition(),
+    sprintf( str, "%f;%f;%f;%i;%i;%i;%f;;", robotControl->getxActualPosition(),
              robotControl->getyActualPosition(),
-             robotControl->getActualTheta(),
+             robotControl->getActualTheta() * 180 / PI,
              s->state&STATE_UNDER == 0 ? 0 : 1,
              s->state&STATE_LEFT == 0 ? 0 : 1,
              s->state&STATE_RIGHT == 0 ? 0 : 1,
@@ -64,7 +64,7 @@
     //copy to wbuf
     strcpy( (char*) wbuf, str );
 
-    this->write(wbuf,32);
+    this->write(wbuf,100);
 
 }
 

--- a/AndroidADKTerm/android.h	Thu Apr 11 09:22:35 2013 +0000
+++ b/AndroidADKTerm/android.h	Fri Apr 26 06:02:41 2013 +0000
@@ -23,12 +23,9 @@
  * For more information see the Android ADK Cookbook:
  * <a href="http://mbed.org/cookbook/mbed-with-Android-ADK">http://mbed.org/cookbook/mbed-with-Android-ADK</a>
  *
- * Originally created by p07gbar from work by Makoto Abe
+ * Originally created by p07gbar from work by Makoto Abe.
  */
 
-//#define OUTL 100
-//#define INBL 100
-
 class AdkTerm : public AndroidAccessory, public Task
 {
 
@@ -65,13 +62,13 @@
      * @brief Creates a <code>AdkTerm</code> object and initializes all private
      * state variables. Constructor
      * @param robotControl RobotControl obejct reference
+     * @param s referenz to the state struct.
      * @param period length of a period in seconds
      */
     AdkTerm(RobotControl* robotControl, state_t* s, float period);
 
     /**
      * @brief Sets initial configurations and clears the buffer
-     *
      */
     void setupDevice();
 
@@ -82,13 +79,13 @@
     float getDesiredX();
 
     /**
-     * Returns the desired position in meters for y-coordinate, given by android
+     * @brief Returns the desired position in meters for y-coordinate, given by android
      * @return y-coordinate,given in [m]
      */
     float getDesiredY();
 
     /**
-    * @brief Returns the esired position in degrees for theta, given by android
+    * @brief Returns the desired position in degrees for theta, given by android
     * @return y-coordinate,given in degrees [°]
     */
     float getDesiredTheta();
@@ -114,21 +111,21 @@
                   const string& delimiters = " ");
 
     /**
-     * @brief
+     * @brief Read and cast incomming messages.
      * @param buf
      * @param len
+     * @return success
      */
     int callbackRead(u8 *buf, int len);
 
     /**
-     * @brief
-     *
+     * @brief To send the buffer over the USB-Connection
+     * @return success
      */
     int callbackWrite();
 
     /**
-     * @brief
-     *
+     * @brief Generating messages via serial interface for debuging.
      */
     void serialIRQ();
     

--- a/defines.h	Thu Apr 11 09:22:35 2013 +0000
+++ b/defines.h	Fri Apr 26 06:02:41 2013 +0000
@@ -9,6 +9,7 @@
 
 /**
  * @name Physical dimensions π;
+ * @{
  */
 #define PI                    3.141592654f
 /*! @} */
@@ -57,7 +58,7 @@
 /**
  * @brief Distance of the wheel, given in [m] Greater --> turn more
  */
-#define WHEEL_DISTANCE        0.2000f
+#define WHEEL_DISTANCE        0.1870f
 
 /**
  * @brief Sets the start X-point, given in [m]
@@ -98,6 +99,7 @@
 
 /**
  * @name ESCON Constands
+ *
  * @{
  */
 

--- a/main.cpp	Thu Apr 11 09:22:35 2013 +0000
+++ b/main.cpp	Fri Apr 26 06:02:41 2013 +0000
@@ -7,7 +7,7 @@
  *
  * @brief
  *
- * This Programm is for a autonomous robot for the competition
+ * This program is for an 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="mailto:julia.bauernfeind@stud.hslu.ch">julia.bauernfeind@stud.hslu.ch</a>
@@ -20,13 +20,13 @@
  *
  * 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">a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
+ * 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>
  *
- * The connection to a android smartphone is realise with the library AndroidAccessory from Rich Bayliss.
- * For more information see here: <a href="https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/">a href="https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/</a>
+ * The connection to an android smartphone is realise with the library AndroidAccessory from Rich Bayliss.
+ * For more information see here: <a href="https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/">https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/</a>
  * 
  * The rest of the classes are only based on standard library from mbed.
- * For more information see here: <a href="http://mbed.org/users/mbed_official/code/mbed/">a href="http://mbed.org/users/mbed_official/code/mbed/</a>
+ * For more information see here: <a href="http://mbed.org/users/mbed_official/code/mbed/">http://mbed.org/users/mbed_official/code/mbed/</a>
  */
 
 /**
@@ -123,7 +123,7 @@
      * start the timer for the Logging to the file
      * and start the Task for logging
      **/
-    state.initPlotFile();
+    //state.initPlotFile();
     state.startTimerFromZero();
     state.start();
 
@@ -139,7 +139,7 @@
      * Set the startposition and start the Task for controlling the roboter.
      */
     robotControl.setAllToZero(0, 0, PI/2 );
-//   robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
+    //robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
     robotControl.start();
     
     pc.baud(460800);
@@ -149,118 +149,14 @@
     pc.printf("Android Development Kit: start\r\n");
     USBInit();
     
+    //wait(3);
+    
     adkTerm.start();
 
-
-    // robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
-    //  robotControl.setDesiredPositionAndAngle(0, 0, PI/2);
-    // wait(0.1);
-
-    //////////////////////////////////////////
-/*
-    robotControl.setDesiredPositionAndAngle(0.0f, 1.0f,  PI);
-    while(!(robotControl.getDistanceError() <= 0.1)) {
-        state.savePlotFile(s);
-    };
-
-    robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f,  -PI/2);
-    while(!(robotControl.getDistanceError() <= 0.1)) {
-        state.savePlotFile(s);
-    };
-
-    robotControl.setDesiredPositionAndAngle(0.0f, -0.8f,  PI/2);
-    while(!(robotControl.getDistanceError() <= 0.05)) {
-        state.savePlotFile(s);
-    };
-
-    robotControl.setDesiredPositionAndAngle(0.0f, -0.2f,  PI/2);
-    while(!(robotControl.getDistanceError() <= 0.05)) {
-        state.savePlotFile(s);
-    };
-
-    robotControl.setDesiredPositionAndAngle(0.0, 0.0f,  PI/2);
-    while(!(s.millis >= 32000)) {
-        state.savePlotFile(s);
-    };
-
-*/
-
-
-
-    ///////////////////////stay
-    /*
-            robotControl.setDesiredPositionAndAngle(0.0, 0.0f,  PI/2);
-        while(!(s.millis >= 25000)) {
-            state.savePlotFile(s);
-        };
-        */
-    //////////////////////////stay
-
-
-
-
-
-
-
-    ////////////////////////////////////////////////////////////////////////
-
-    /*
-
-        //Zum Umfang einstellen 2m fahren
-        robotControl.setDesiredPositionAndAngle(0.0f, 0.5f,  PI/2);
-        while(!(robotControl.getDistanceError() <= 0.2)) {
-            state.savePlotFile(s);
-        };
-
-            robotControl.setDesiredPositionAndAngle(0.0f, 1.0f,  PI/2);
-        while(!(robotControl.getDistanceError() <= 0.2)) {
-            state.savePlotFile(s);
-        };
-                robotControl.setDesiredPositionAndAngle(0.0f, 1.5f,  PI/2);
-        while(!(robotControl.getDistanceError() <= 0.2)) {
-            state.savePlotFile(s);
-        };
-
-
-        robotControl.setDesiredPositionAndAngle(0.0f, 2.0f,  PI/2);
-        while(!(s.millis >= 30000)) {
-            state.savePlotFile(s);
-        };
-
-    */
-
-
-    ///////////////oder//////////////////e
-
-
-    // Zum radabstand einstellen
-
-    /*
-        robotControl.setDesiredPositionAndAngle(-0.7f, 1.0f,  PI);
-        while(!(robotControl.getDistanceError() <= 0.05)) {
-            state.savePlotFile(s);
-        };
-
-        robotControl.setDesiredPositionAndAngle(-0.8f, 1.0f,  PI);
-        while(!(robotControl.getDistanceError() <= 0.05)) {
-            state.savePlotFile(s);
-        };
-
-
-        robotControl.setDesiredPositionAndAngle(-1.0f, 1.0f,  PI);
-        while(!(s.millis >= 30000)) {
-            state.savePlotFile(s);
-        }
-
-    */
-
-
-////////////////////////////////////////////////////////
-
-
+  /*
 
     //  Epä Parkour fahrä
-    /*
+    
         robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
         wait(0.1);
 
@@ -274,7 +170,7 @@
             state.savePlotFile(s);
         };
 
-        robotControl.setDesiredPositionAndAngle(-0.75f, 3.0f,  PI/2);
+        robotControl.setDesiredPositionAndAngle(-0.55f, 3.0f,  PI/2); //0.75
         while(!(robotControl.getDistanceError() <= 0.7)) {
             state.savePlotFile(s);
         };
@@ -294,27 +190,36 @@
         while(!(robotControl.getDistanceError() <= 1.0)) {
             state.savePlotFile(s);
         };
+        
+                robotControl.setDesiredPositionAndAngle(-2.0f, 2.0f,  -PI/2);
+        while(!(robotControl.getDistanceError() <= 1.0)) {
+            state.savePlotFile(s);
+        };
 
-        robotControl.setDesiredPositionAndAngle(-1.74f, 1.30f,  -PI/2);
+        robotControl.setDesiredPositionAndAngle(-2.65f, 1.30f,  -PI/2);
         while(!(robotControl.getDistanceError() <= 0.1)) {
             state.savePlotFile(s);
         };
-        robotControl.setDesiredPositionAndAngle(-1.75f, 0.80f,  -PI/2);
+        robotControl.setDesiredPositionAndAngle(-2.65f, 0.80f,  -PI/2);
         while(!(s.millis >= 32000)) {
             state.savePlotFile(s);
         }
 
     */
-       
+     
         while (1) {
             USBLoop();
+            
+            robotControl.setDesiredPositionAndAngle(adkTerm.getDesiredX(), adkTerm.getDesiredY(),  adkTerm.getDesiredTheta());
+            
+            //pc.printf(".");
 
-            pc.printf("From Android x: %f   y: %f  t: %f",adkTerm.getDesiredX(), adkTerm.getDesiredY(),adkTerm.getDesiredTheta());
-            robotControl.setDesiredPositionAndAngle(adkTerm.getDesiredX(), adkTerm.getDesiredY(),  adkTerm.getDesiredTheta());
+            /*pc.printf("From Android x: %f   y: %f  t: %f",adkTerm.getDesiredX(), adkTerm.getDesiredY(),adkTerm.getDesiredTheta());
+            
             
             pc.printf( "To Android: x: %f   y: %f   t: %f; \n \n", robotControl.getxActualPosition(),
              robotControl.getyActualPosition(),
-             robotControl.getActualTheta());
+             robotControl.getActualTheta());*/
         }
 
 
@@ -322,10 +227,9 @@
     /**
      * Close the File PLOTS.txt to read the file after with the computer and draw a diagramm
      */
-     /*
     state.savePlotFile(s);
     state.closePlotFile();
     state.stop();
     robotControl.setEnable(false);
-    */
+    
 }