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 37:fd68b9e0be08, committed 2013-06-09

Comitter:
chrigelburri
Date:
Sun Jun 09 17:37:20 2013 +0000
Parent:
36:4226e50a0bcd
Child:
38:d76e488e725f
Commit message:
beim qr wird desabled um den winkelfehler in grenzen zu halten;

Changed in this revision

RobotControl/RobotControl.cpp Show annotated file Show diff for this revision Revisions of this file
defines.h Show annotated file Show diff for this revision Revisions of this file 
--- a/RobotControl/RobotControl.cpp	Sat May 25 15:42:24 2013 +0000
+++ b/RobotControl/RobotControl.cpp	Sun Jun 09 17:37:20 2013 +0000
@@ -216,8 +216,10 @@
     Actual.yposition += (Actual.speed * period * sin(Actual.theta));
 
     //motor control
-    if ( isEnabled() &&  ( getDistanceError() >= MIN_DISTANCE_ERROR ) )  {
-
+    if ( /*isEnabled() && */ ( getDistanceError() >= MIN_DISTANCE_ERROR ) )  {
+        
+        motorControllerLeft->enable(true);
+        motorControllerRight->enable(true);
         //postition control
         speed = K1 * getDistanceError() * cos( getThetaErrorToGoal() );
         omega = K2 * getThetaErrorToGoal() +
@@ -240,6 +242,9 @@
         );
 
     } else {
+        
+        motorControllerLeft->enable(false);
+        motorControllerRight->enable(false);
         motorControllerLeft->setVelocity(0.0f);
         motorControllerRight->setVelocity(0.0f);
     }

--- a/defines.h	Sat May 25 15:42:24 2013 +0000
+++ b/defines.h	Sun Jun 09 17:37:20 2013 +0000
@@ -152,7 +152,7 @@
  * @brief Min. Distance to switch the position controller off.
  * Because when Distance Error goes to zero the ATAN2 is not define, given in [m]
  */
-#define MIN_DISTANCE_ERROR    0.001f
+#define MIN_DISTANCE_ERROR    0.045f
 /*! @} */
 
 /**
@@ -193,7 +193,7 @@
 /**
  * @brief 10Hz Rate for the Android communication , given in [s]
  */
-#define PERIOD_ANDROID        (0.025f*2)
+#define PERIOD_ANDROID        (0.035f*2) //(0.025f*2)
 /*! @} */