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: RobotControl/MotionState.h

Revision:
1:6cd533a712c6
Parent:
0:31f7be68e52d
Child:
3:92ba0254af87
--- a/RobotControl/MotionState.h	Thu Feb 07 17:43:19 2013 +0000
+++ b/RobotControl/MotionState.h	Sat Mar 02 09:39:34 2013 +0000
@@ -9,7 +9,7 @@
  *
  * @section LICENSE
  *
- * Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe
+ * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
  * All rights reserved.
  *
  * @section DESCRIPTION
@@ -52,7 +52,7 @@
     * @param yposition the initial position value of this motion state, given in [m].
     * @param theta the initial angle value of this motion state, given in [rad].
     * @param speed the initial speed value of this motion state, given in [m/s].
-    * @param omega the initial omega speed value of this motion state, given in [rad/s].
+    * @param omega the initial ω speed value of this motion state, given in [rad/s].
     */
     MotionState(float xposition, float yposition, float theta, float speed, float omega);
 
@@ -67,7 +67,7 @@
     * @param yposition the initial position value of this motion state, given in [m].
     * @param theta the initial angle value of this motion state, given in [rad].
     * @param speed the initial speed value of this motion state, given in [m/s].
-    * @param omega the initial omega speed value of this motion state, given in [rad/s].
+    * @param omega the initial ω speed value of this motion state, given in [rad/s].
     */
     void        setState(float xposition, float yposition, float theta, float speed, float omega);
 
@@ -79,9 +79,9 @@
 
     /**
     * Sets the X-position value.
-    * @param the desired xposition value of this motion state, given in [m].
+    * @param xposition the desired xposition value of this motion state, given in [m].
     */
-    void        setxPosition(float position);
+    void        setxPosition(float xposition);
 
     /**
     * Gets the X-position value.
@@ -91,7 +91,7 @@
 
     /**
     * Sets the Y-position value.
-    * @param the desired yposition value of this motion state, given in [m].
+    * @param yposition the desired yposition value of this motion state, given in [m].
     */
     void        setyPosition(float yposition);
 
@@ -103,7 +103,7 @@
 
     /**
     * Sets the theta value.
-    * @param the desired theta value of this motion state, given in [m].
+    * @param theta the desired theta value of this motion state, given in [m].
     */
     void        setTheta(float theta);
 
@@ -126,49 +126,45 @@
     float       getSpeed();
 
     /**
-    * Sets the omega value.
-    * @param omega the desired omega value of this motion state, given in [rad/s].
+    * Sets the ω value.
+    * @param omega the desired ω value of this motion state, given in [rad/s].
     */
     void        setOmega(float omega);
 
     /**
-    * Gets the omega value.
-    * @return the omega value of this motion state, given in [rad/s].
+    * Gets the ω value.
+    * @return the ω value of this motion state, given in [rad/s].
     */
     float       getOmega();
 
     /**
     * Sets the maximum acceleration value.
-    * @param acceleration the maximum acceleration value to use for the calculation
-    * of the motion trajectory, given in [m/s²].
+    * @param acceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>].
     */
     void        setAcceleration(float acceleration);
 
     /**
     * Gets the maximum acceleration value.
-    * @return the maximum acceleration value used for the calculation
-    * of the motion trajectory, given in [m/s&sup2;].
+    * @return the maximum acceleration value used for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>].
     */
     float       getAcceleration();
 
     /**
     * Sets the maximum acceleration value of rotation.
-    * @param acceleration the maximum acceleration value to use for the calculation
-    * of the motion trajectory, given in [rad/s&sup2;].
+    * @param thetaAcceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [rad/<SUP>2</SUP>].
     */
     void        setThetaAcceleration(float thetaAcceleration);
 
     /**
     * Gets the maximum acceleration value of rotation.
-    * @return the maximum acceleration value used for the calculation
-    * of the motion trajectory, given in [rad/s&sup2;].
+    * @return the maximum acceleration value used for the calculation of the motion trajectory, given in [rad/<SUP>2</SUP>].
     */
     float       getThetaAcceleration();
 
     /**
     * Increments the current motion state towards a given desired speed.
     * @param desiredSpeed the desired speed given in [m/s].
-    * @param desiredOmega the desired omega given in [rad/s].
+    * @param desiredOmega the desired &omega; given in [rad/s].
     * @param period the time period to increment the motion state for, given in [s].
     */
     void        increment(float desiredSpeed, float desiredOmega, float period);