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: main.cpp

Revision:
23:4d8173c5183b
Parent:
22:bfec16575c91
--- a/main.cpp	Sun May 19 07:35:16 2013 +0000
+++ b/main.cpp	Sun May 19 14:39:20 2013 +0000
@@ -108,6 +108,9 @@
 // @todo PC USB communications DAs wird danach gelöscht
 Serial pc(USBTX, USBRX);
 
+PwmOut led[4] = { LED1, LED2, LED3, LED4 };
+
+
 /**
 * @brief Main function. Start the Programm here.
 */
@@ -123,12 +126,31 @@
      * Check at first the Battery voltage. Starts when the voltages greater as the min is.
      * start the timer for the Logging to the file
      * and start the Task for logging
+     *  Slow PWM sample for the end
      **/
     state.start();
     state.initPlotFile();
     state.closePlotFile();
-    while(s.voltageBattery < BAT_MIN) {}
+    while(s.voltageBattery < BAT_MIN) {
+        for (float f = 0.1f; f < 6.3f; f += 0.1f) {
+            for(int i = 0; i <= 3; i  ++) {
+                led[i] = state.dim( i, f );
+            }
+            wait_ms(20);
+        }
+        wait(0.05);
+        for (float f = 0.1f; f < 6.3f; f += 0.1f) {
+            for(int i = 0; i <= 3; i  ++) {
+                led[i] = state.dim( 3-i, f );
+            }
+            wait_ms(20);
+        }
+        wait(0.05);
+    }
     state.stop();
+    for(int i = 0; i <= 3; i  ++) {
+        led[i] = state.dim( 0, 0.0f );
+    }
     wait(0.5);
     state.start();
     state.initPlotFile();
@@ -195,9 +217,6 @@
     }
 
 
-
-
-
     /*
         pc.baud(460800);
         pc.printf("********************* MicroBridge 4568 ********************************\n\r");
@@ -241,5 +260,26 @@
     state.closePlotFile();
     state.stop();
     robotControl.setEnable(false);
+    robotControl.stop();
+
+    /**
+     * Fast PWM sample for the end
+     */
+    while(1) {
+        for (float f = 0.1f; f < 6.3f; f += 0.1f) {
+            for(int i = 0; i <= 3; i  ++) {
+                led[i] = state.dim( i, f );
+            }
+            wait_ms(5);
+        }
+        wait(0.1);
+        for (float f = 0.1f; f < 6.3f; f += 0.1f) {
+            for(int i = 0; i <= 3; i  ++) {
+                led[i] = state.dim( 3-i, f );
+            }
+            wait_ms(5);
+        }
+        wait(0.05);
+    }
 
 }