Christian Burri
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
Fork of
autonomous Robot Android
by 
Christian Burri
Diff: main.cpp
- Revision:
- 6:48eeb41188dd
- Parent:
- 5:48a258f6335e
- Child:
- 7:34be8b3a979c
--- a/main.cpp Thu Mar 21 08:56:53 2013 +0000
+++ b/main.cpp Sat Mar 23 13:52:48 2013 +0000
@@ -1,4 +1,6 @@
/**
+ * \mainpage Index Page
+ *
* @file main.cpp
* @author Christian Burri
*
@@ -34,6 +36,10 @@
#include "RobotControl.h"
#include "Ping.h"
#include "PowerControl/EthernetPowerControl.h"
+//#include "android.h"
+
+//Android
+//AdkTerm AdkTerm;
// LiPo Batterie
AnalogIn battery(p15); // Battery check
@@ -66,7 +72,6 @@
DigitalOut myled(LED1);
-//float magout[3] = {0};
// LiPo Batterie
float batterie_voltage;
@@ -89,10 +94,11 @@
robotControl.start();
robotControl.setEnable(false);
- wait(0.01);
+ wait(0.1);
robotControl.setEnable(true);
- wait(0.01);
- robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
+ wait(0.1);
+ robotControl.setAllToZero(0, 0, PI/2 );
+ // robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
leftMotor.setPulses(0);
rightMotor.setPulses(0);
@@ -100,44 +106,163 @@
state.startTimerFromZero();
state.start();
- robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+ // 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(-1.20f, 1.50f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.0f, 0.0f, 0);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.20f, 2.5f, PI/4);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2);
+ while(!(s.millis >= 55000)) {
+ state.savePlotFile(s);
+ };
+
+
+
+
+
+
+
+
+
+
+
+
+ ////////////////////////////////////////////////////////////////////////
+
+
- robotControl.setDesiredPositionAndAngle(-0.45f, 3.2f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.4)) {
+ //Zum Umfang einstellen
+ /*
+ robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI/2);
+ while(!(s.millis >= 20000)) {
state.savePlotFile(s);
};
+
- robotControl.setDesiredPositionAndAngle(-1.0f, 3.6f, PI);
- while(!(robotControl.getDistanceError() <= 0.2)) {
- state.savePlotFile(s);
- };
+*/
+
+ ///////////////oder//////////////////
+
+
+ // Zum radabstand einstellen
+
+ /*
+ int sek = 1000;
+ int step = 1000;
+ int i = 0;
+ int totalTurns = 5;
+
+ while(i >= totalTurns) {
+ robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, PI);
+ while(!(s.millis >= sek)) {
+ state.savePlotFile(s);
+ };
+ sek += step;
+
+ robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, -PI/2);
+ while(!(s.millis >= sek)) {
+ state.savePlotFile(s);
+ };
+ sek += step;
- robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI);
- while(!(robotControl.getDistanceError() <= 0.03)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, 0);
+ while(!(s.millis >= sek)) {
+ state.savePlotFile(s);
+ };
+ sek += step;
+
+ robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, PI/2);
+ while(!(s.millis >= sek)) {
+ state.savePlotFile(s);
+ };
+ sek += step;
+
+ i++;
+ }
+*/
+
+
+////////////////////////////////////////////////////////
+
+
+
+ // Epä Parkour fahrä
+/*
+ robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+ wait(0.1);
- robotControl.setDesiredPositionAndAngle(-2.5f, 3.0f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.20f, 1.50f, 3*PI/4);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.20f, 2.5f, PI/4);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-0.45f, 3.2f, 3*PI/4);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.0f, 3.6f, PI);
+ while(!(robotControl.getDistanceError() <= 0.2)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.75f, 1.30f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.04)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-2.5f, 3.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.75f, 1.30f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.06)) {
+ state.savePlotFile(s);
+ };
+
+ */
+
+
+
+
+ /*
+ printf("here we go... \n");
+ AdkTerm.setupDevice();
+ printf("Android Development Kit: start\r\n");
+ USBInit();
+ while (!(s.millis >= 60000)) {
+ USBLoop();
+
+ printf("x: %f y: %f theta: %f", AdkTerm.getx(), AdkTerm.getx(), AdkTerm.getx() )
+
+ if( AdkTerm.getx() == 99) {
+ break;
+ }
+ }
+ */
state.savePlotFile(s);
state.closePlotFile();