Christian Burri
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
Fork of
autonomous Robot Android
by 
Christian Burri
Diff: RobotControl/RobotControl.h
- Revision:
- 11:775ebb69d5e1
- Parent:
- 6:48eeb41188dd
- Child:
- 12:235e318a414f
--- a/RobotControl/RobotControl.h Thu Apr 04 06:43:43 2013 +0000
+++ b/RobotControl/RobotControl.h Fri Apr 05 10:58:42 2013 +0000
@@ -1,23 +1,18 @@
#ifndef _ROBOT_CONTROL_H_
#define _ROBOT_CONTROL_H_
-#include "mbed.h"
#include "MaxonESCON.h"
#include "MotionState.h"
#include "Task.h"
-#include "HMC5883L.h"
-#include "HMC6352.h"
#include "defines.h"
/**
* @author Christian Burri
*
- * @section LICENSE
- *
- * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
+ * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
* All rights reserved.
*
- * @section DESCRIPTION
+ * @brief
*
* This class controls the position of the robot. It has
* a run loop that is called periodically. This run loop reads the actual
@@ -35,8 +30,6 @@
MaxonESCON* motorControllerLeft;
MaxonESCON* motorControllerRight;
-// HMC6352* compass;
- AnalogIn* battery;
MotionState Desired;
MotionState Actual;
MotionState stateLeft;
@@ -46,7 +39,7 @@
float omega;
/**
- * Add ±2π when the range of
+ * @brief Add ±2π when the range of
* the radian is over +π or under -π.
* @param theta to check the value
* @return the value in the range from -π to +π
@@ -56,29 +49,26 @@
public:
/**
- * Creates a <code>Robot Control</code> object and
+ * @brief Creates a <code>Robot Control</code> object and
* initializes all private state variables.
* @param motorControllerLeft a reference to the servo
* drive for the left motor
* @param motorControllerRight a reference to the servo
* drive for the right motor
- * @param compass Modul HMC5883L
- * @param period the sampling period of the run loop of
+ * @param period the sampling period of the run loop of
* this controller, given in [s]
*/
RobotControl(MaxonESCON* motorControllerLeft,
- MaxonESCON*
- motorControllerRight,
- /*HMC6352* compass,*/
+ MaxonESCON* motorControllerRight,
float period);
/**
- * Destructor of the Object to destroy the Object.
+ * @brief Destructor of the Object to destroy the Object.
**/
virtual ~RobotControl();
/**
- * Enables or disables the servo drives of the motors.
+ * @brief Enables or disables the servo drives of the motors.
* @param enable if <code>true</code> enables the drives,
* <code>false</code> otherwise
* the servo drives are shut down.
@@ -86,21 +76,21 @@
void setEnable(bool enable);
/**
- * Tests if the servo drives of the motors are enabled.
+ * @brief Tests if the servo drives of the motors are enabled.
* @return <code>true</code> if the drives are enabled,
* <code>false</code> otherwise
*/
bool isEnabled();
/**
- * Sets the maximum acceleration value.
+ * @brief Sets the maximum acceleration value.
* @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);
/**
- * Sets the maximum acceleration value of rotation.
+ * @brief 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<SUP>2</SUP>]
@@ -108,55 +98,55 @@
void setThetaAcceleration(float acceleration);
/**
- * Sets the desired translational speed of the robot.
+ * @brief Sets the desired translational speed of the robot.
* @param speed the desired speed, given in [m/s]
*/
void setDesiredSpeed(float speed);
/**
- * Sets the desired rotational speed of the robot.
+ * @brief Sets the desired rotational speed of the robot.
* @param omega the desired rotational speed, given in [rad/s]
*/
void setDesiredOmega(float omega);
/**
- * Sets the desired X-position of the robot.
+ * @brief Sets the desired X-position of the robot.
* @param xposition the desired position, given in [m]
*/
void setDesiredxPosition(float xposition);
/**
- * Sets the desired Y-position of the robot.
+ * @brief Sets the desired Y-position of the robot.
* @param yposition the desired position, given in [m]
*/
void setDesiredyPosition(float yposition);
/**
- * Sets the desired θ of the robot.
+ * @brief Sets the desired θ of the robot.
* @param theta the desired θ, given in [rad]
*/
void setDesiredTheta(float theta);
/**
- * Get the desired X-position of the robot.
+ * @brief Get the desired X-position of the robot.
* @return xposition the desired position, given in [m]
*/
float getDesiredxPosition();
/**
- * Get the desired Y-position of the robot.
+ * @brief Get the desired Y-position of the robot.
* @return yposition the desired position, given in [m]
*/
float getDesiredyPosition();
/**
- * Get the desired θ of the robot.
+ * @brief Get the desired θ of the robot.
* @return theta the desired θ, given in [rad]
*/
float getDesiredTheta();
/**
- * Sets the desired Position and θ.
+ * @brief Sets the desired Position and θ.
* @param xposition the desired position, given in [m]
* @param yposition the desired position, given in [m]
* @param theta the desired θ, given in [rad]
@@ -166,92 +156,92 @@
float theta);
/**
- * Gets the desired θ of the goal point.
+ * @brief Gets the desired θ of the goal point.
* @return the desired θ, given in [rad]
*/
float getTheta();
/**
- * Gets the desired translational speed of the robot.
+ * @brief Gets the desired translational speed of the robot.
* @return the desired speed, given in [m/s]
*/
float getDesiredSpeed();
/**
- * Gets the actual translational speed of the robot.
+ * @brief Gets the actual translational speed of the robot.
* @return the desired speed, given in [m/s]
*/
float getActualSpeed();
/**
- * Gets the desired rotational speed of the robot.
+ * @brief Gets the desired rotational speed of the robot.
* @return the desired speed, given in [rad/s]
*/
float getDesiredOmega();
/**
- * Gets the actual rotational speed of the robot.
+ * @brief Gets the actual rotational speed of the robot.
* @return the desired speed, given in [rad/s]
*/
float getActualOmega();
/**
- * Gets the actual translational X-position of the robot.
+ * @brief Gets the actual translational X-position of the robot.
* @return the actual position, given in [m]
*/
float getxActualPosition();
/**
- * Gets the X-position following error of the robot.
+ * @brief Gets the X-position following error of the robot.
* @return the position following error, given in [m]
*/
float getxPositionError();
/**
- * Gets the actual translational Y-position of the robot.
+ * @brief Gets the actual translational Y-position of the robot.
* @return the actual position, given in [m]
*/
float getyActualPosition();
/**
- * Gets the Y-position following error of the robot.
+ * @brief Gets the Y-position following error of the robot.
* @return the position following error, given in [m]
*/
float getyPositionError();
/**
- * Gets the actual orientation of the robot.
+ * @brief Gets the actual orientation of the robot.
* @return the orientation, given in [rad]
*/
float getActualTheta();
/**
- * Gets the orientation following error of the robot.
+ * @brief Gets the orientation following error of the robot.
* @return the orientation following error, given in [rad]
*/
float getThetaError();
/**
- * Gets the distance to disired point. Calculate with pythagoras.
+ * @brief Gets the distance to disired point. Calculate with pythagoras.
* @return distance to goal, given in [m]
*/
float getDistanceError();
/**
- * Gets the θ ot the pointing vector to the goal right
+ * @brief Gets the θ ot the pointing vector to the goal right
* the unicycle axis from actual point.
* @return theta to goal, given in [rad]
*/
float getThetaErrorToGoal();
/**
- * Gets the θ ot the pointing vector to the goal right the unicycle main axis.
+ * @brief Gets the θ ot the pointing vector to the goal right the unicycle main axis.
* @return theta from the goal, given in [rad]
*/
float getThetaGoal();
/**
- * Set all state to zero, except the X-position, y-position and θ.
+ * @brief Set all state to zero, except the X-position, y-position and θ.
* @param xZeroPos Sets the start X-position, given in [m]
* @param yZeroPos Sets the start y-position, given in [m]
* @param theta Sets the start θ, given in [rad]
@@ -260,7 +250,9 @@
float yZeroPos,
float theta);
-
+ /**
+ * @brief Run method actualize every period.
+ */
void run();
};