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

Diff: State/State.cpp

Revision:
23:4d8173c5183b
Parent:
12:235e318a414f
Child:
27:a13ede88e75f
Child:
29:937c74ff040e
--- a/State/State.cpp	Sun May 19 07:35:16 2013 +0000
+++ b/State/State.cpp	Sun May 19 14:39:20 2013 +0000
@@ -141,6 +141,11 @@
     timer.start();
 }
 
+float State::dim( int idx, float f )
+{
+    return (sin(f + float(idx)* 1.0) + 1.0) / 2.0;   // transform value from -1.0 .. 1.0 to 0.0 .. 1.0
+}
+
 void State::run()
 {
     s->millis = timer.read_ms();