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: defines.h

Revision:
23:4d8173c5183b
Parent:
22:bfec16575c91
--- a/defines.h	Sun May 19 07:35:16 2013 +0000
+++ b/defines.h	Sun May 19 14:39:20 2013 +0000
@@ -47,7 +47,7 @@
 /**
  * @brief Radius of the left wheel, given in [m] kleiner --> weiter
  */
-#define WHEEL_RADIUS_LEFT     0.040190f    //0.040190f             
+#define WHEEL_RADIUS_LEFT     0.040190f         
 
 /**
  * @brief Radius of the left wheel, given in [m]
@@ -131,12 +131,12 @@
 /**
  * @brief Main Gain for k1, k2 and k3
  */
-#define GAIN                  0.65f // 1.8f 0.65
+#define GAIN                  0.65f
 
 /**
  * @brief Gain k1 default 1.0f
  */
-#define K1                    1.45f * GAIN  //0.8 1.2
+#define K1                    1.45f * GAIN
 
 /**
  * @brief Gain k2 default 3.0f