Christian Burri / Mbed 2 deprecated autonomous Robot Android

This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ 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: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

MicroBridge/androidADB.h@27:a13ede88e75f, 2013-05-20 (annotated)

Committer:
chrigelburri
Date:
Mon May 20 11:51:33 2013 +0000
Revision:
27:a13ede88e75f
Parent:
21:48248c5b8992
Child:
32:767044a3e421
mit led methode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 18:306d362d692b 1 #ifndef _ANDROIDADB_H_
chrigelburri 18:306d362d692b 2 #define _ANDROIDADB_H_
chrigelburri 18:306d362d692b 3
chrigelburri 18:306d362d692b 4 #include "mbed.h"
chrigelburri 18:306d362d692b 5 #include "Adb.h"
chrigelburri 20:01b233b0e606 6 #include "defines.h"
chrigelburri 20:01b233b0e606 7 #include "RobotControl.h"
chrigelburri 18:306d362d692b 8
chrigelburri 18:306d362d692b 9 #include <string>
chrigelburri 18:306d362d692b 10 #include <sstream>
chrigelburri 18:306d362d692b 11 #include <vector>
chrigelburri 18:306d362d692b 12 #include <iostream>
chrigelburri 18:306d362d692b 13 #include <stdlib.h>
chrigelburri 18:306d362d692b 14
chrigelburri 18:306d362d692b 15 /**
chrigelburri 21:48248c5b8992 16 * @brief Takes an string, a vector of strings for the delimited tokens, and a with the
chrigelburri 21:48248c5b8992 17 * @param str
chrigelburri 21:48248c5b8992 18 * @param tokens
chrigelburri 21:48248c5b8992 19 * @param delimiters
chrigelburri 21:48248c5b8992 20 */
chrigelburri 18:306d362d692b 21 void Tokenize(const string& str,
chrigelburri 18:306d362d692b 22 vector<string>& tokens,
chrigelburri 18:306d362d692b 23 const string& delimiters = " ");
chrigelburri 21:48248c5b8992 24
chrigelburri 21:48248c5b8992 25 /**
chrigelburri 21:48248c5b8992 26 * @brief @todo
chrigelburri 21:48248c5b8992 27 * @param length
chrigelburri 21:48248c5b8992 28 * @param data
chrigelburri 21:48248c5b8992 29 */
chrigelburri 21:48248c5b8992 30 void parseMessage(uint16_t length, uint8_t * data);
chrigelburri 21:48248c5b8992 31
chrigelburri 21:48248c5b8992 32 /**
chrigelburri 21:48248c5b8992 33 * @brief @todo
chrigelburri 21:48248c5b8992 34 * Connecting to android.
chrigelburri 21:48248c5b8992 35 */
chrigelburri 18:306d362d692b 36 void connect();
chrigelburri 18:306d362d692b 37
chrigelburri 21:48248c5b8992 38 /**
chrigelburri 21:48248c5b8992 39 * @brief Gets the desired &theta; value.
chrigelburri 21:48248c5b8992 40 * @return the desired &theta;, given in [°] GRad oder rad??????????????????
chrigelburri 21:48248c5b8992 41 */
chrigelburri 19:b2f76b0fe4c8 42 float getDesiredTheta();
chrigelburri 21:48248c5b8992 43
chrigelburri 21:48248c5b8992 44 /**
chrigelburri 21:48248c5b8992 45 * @brief Gets the desired X-postition.
chrigelburri 21:48248c5b8992 46 * @return the desired X-postition, given in [m]
chrigelburri 21:48248c5b8992 47 */
chrigelburri 19:b2f76b0fe4c8 48 float getDesiredX();
chrigelburri 21:48248c5b8992 49
chrigelburri 21:48248c5b8992 50 /**
chrigelburri 21:48248c5b8992 51 * @brief Gets the desired Y-postition.
chrigelburri 21:48248c5b8992 52 * @return the desired Y-postition, given in [m]
chrigelburri 21:48248c5b8992 53 */
chrigelburri 19:b2f76b0fe4c8 54 float getDesiredY();
chrigelburri 19:b2f76b0fe4c8 55
chrigelburri 21:48248c5b8992 56 /**
chrigelburri 27:a13ede88e75f 57 * @brief Sets the desired &theta; value.
chrigelburri 27:a13ede88e75f 58 * @param t desired &theta; value, given in [°]
chrigelburri 27:a13ede88e75f 59 */
chrigelburri 27:a13ede88e75f 60 void setDesiredTheta(float t);
chrigelburri 27:a13ede88e75f 61
chrigelburri 27:a13ede88e75f 62 /**
chrigelburri 21:48248c5b8992 63 * @brief Initialise the ADB subsystem. Open an ADB stream on tcp port 4568.
chrigelburri 21:48248c5b8992 64 */
chrigelburri 19:b2f76b0fe4c8 65 void init();
chrigelburri 19:b2f76b0fe4c8 66
chrigelburri 21:48248c5b8992 67 /**
chrigelburri 21:48248c5b8992 68 * @brief @todo
chrigelburri 21:48248c5b8992 69 * @param str
chrigelburri 21:48248c5b8992 70 */
chrigelburri 19:b2f76b0fe4c8 71 void write2Android(char str [32]);
chrigelburri 19:b2f76b0fe4c8 72
chrigelburri 21:48248c5b8992 73 /**
chrigelburri 21:48248c5b8992 74 * @brief Write the Parameterlist to the android smartphone.
chrigelburri 21:48248c5b8992 75 * @param x
chrigelburri 21:48248c5b8992 76 * @param y
chrigelburri 21:48248c5b8992 77 * @param t
chrigelburri 21:48248c5b8992 78 * @param state_u
chrigelburri 21:48248c5b8992 79 * @param state_r
chrigelburri 21:48248c5b8992 80 * @param volt_b
chrigelburri 21:48248c5b8992 81 */
chrigelburri 20:01b233b0e606 82 void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b);
chrigelburri 19:b2f76b0fe4c8 83
chrigelburri 18:306d362d692b 84 #endif