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: MicroBridge/androidADB.cpp

Revision:
32:767044a3e421
Parent:
28:b3e195e80439
Child:
33:ac39982fd3b2
--- a/MicroBridge/androidADB.cpp	Mon May 20 17:31:16 2013 +0000
+++ b/MicroBridge/androidADB.cpp	Mon May 20 17:40:08 2013 +0000
@@ -1,6 +1,5 @@
 #include "androidADB.h"
 
-
 Connection * connection;
 
 /** @brief Desired position in meters for x-coordinate, given by android */
@@ -35,7 +34,6 @@
     androidt = t;
 }
 
-
 void Tokenize(const string& str,
               vector<string>& tokens,
               const string& delimiters /*= " "*/)
@@ -60,10 +58,8 @@
 
     if (event == ADB_CONNECTION_OPEN) {
         androidConnected = true;
-        //pc.printf("Android Connected\n");
     } else if (event == ADB_CONNECTION_CLOSE) {
         androidConnected = false;
-        printf("Android Disonnected\n");
     }
 
     if (event == ADB_CONNECTION_RECEIVE) {
@@ -74,8 +70,6 @@
 
 void parseMessage(uint16_t length, uint8_t * data)
 {
-    //received = "[ADB RECV]";    printf("[ADB RECV]:%d   %d\r\n",data[0],data[1]);
-
     char str[32];
 
     // convert buffer (unsigned char) to char
@@ -94,30 +88,22 @@
         androidx = ::atof(tokens.at(0).c_str());
         androidy = ::atof(tokens.at(1).c_str());
         androidt = ::atof(tokens.at(2).c_str());
-       
 
-        printf("Android x(%d): %f\n\r\n",length,androidx);
-        printf("Android y(%d): %f\n\r\n",length,androidy);
-        printf("Android t(%d): %f\n\r\n",length,androidt);
-    } else {
-        //pc.printf("Android sayys(%d): %s\n\r\n",length,str);
-    }
+    } else {}
 
 }
 
 void connect()
 {
     ADB::poll();
-    printf("connecting...");
     char c = 'c';
     connection->write(sizeof(c), (unsigned char*)&c);
-    //wait(0.5);
 }
 
 void init()
 {
 
-// Initialise the ADB subsystem.
+    // Initialise the ADB subsystem.
     ADB::init();
 
     // Open an ADB stream on tcp port 4568. Auto-reconnect
@@ -130,6 +116,7 @@
     }
 
 }
+
 //////// Brachts dies noch?????????
 void write2Android(char str [32])
 {
@@ -145,7 +132,7 @@
     }
 
     char str[100];
-    
+
     //send to android
     sprintf( str, "%f;%f;%f;%i;%i;%i;%f;;", x,
              y,
@@ -157,39 +144,4 @@
 
     connection->write(sizeof(str),(unsigned char*)&str);
 
-}
-
-/*
-int main()
-{
-
-    pc.baud(460800);
-
-    pc.printf("********************* MicroBridge 4568 ********************************\n\r");
-
-
-
-    pc.printf("connection isOpen\n");
-
-    float flt = 0.0;
-    float flt2 = 0.2;
-    float flt3 = 1.2;
-
-    while(1) {
-
-        ADB::poll();
-
-        flt = flt - 0.1;
-        flt2 = flt2 + 0.2;
-        flt3 = flt3 - 0.05;
-
-        char str[32];
-        sprintf( str, "%f;%f;%f;", flt, flt2, flt3);
-
-        pc.printf("Sending: %s\n\r",str);
-        connection->write(sizeof(str),(unsigned char*)&str);
-        wait(1);
-
-    }
-}
-*/
\ No newline at end of file
+}
\ No newline at end of file