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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
Diff: MicroBridge/androidADB.cpp
- Revision:
- 19:b2f76b0fe4c8
- Parent:
- 18:306d362d692b
- Child:
- 20:01b233b0e606
--- a/MicroBridge/androidADB.cpp Fri May 03 08:35:29 2013 +0000 +++ b/MicroBridge/androidADB.cpp Fri May 03 13:34:34 2013 +0000 @@ -1,5 +1,6 @@ #include "androidADB.h" + Connection * connection; /** @brief Desired position in meters for x-coordinate, given by android */ @@ -14,6 +15,20 @@ /** @brief Indicates if a ADB connection to a android phone is established */ boolean androidConnected; +float getDesiredX() +{ + return androidx; +} + +float getDesiredY() +{ + return androidy; +} + +float getDesiredTheta() +{ + return androidt; +} void Tokenize(const string& str, vector<string>& tokens, const string& delimiters /*= " "*/) @@ -33,7 +48,7 @@ } } -void adbEventHandler(Connection * connection, adb_eventType event, uint16_t length, uint8_t * data) +extern void adbEventHandler(Connection * connection, adb_eventType event, uint16_t length, uint8_t * data) { if (event == ADB_CONNECTION_OPEN) { @@ -41,7 +56,7 @@ //pc.printf("Android Connected\n"); } else if (event == ADB_CONNECTION_CLOSE) { androidConnected = false; - //pc.printf("Android Disonnected\n"); + printf("Android Disonnected\n"); } if (event == ADB_CONNECTION_RECEIVE) { @@ -73,9 +88,9 @@ androidy = ::atof(tokens.at(1).c_str()); androidt = ::atof(tokens.at(2).c_str()); - //pc.printf("Android x(%d): %f\n\r\n",length,x); - //pc.printf("Android y(%d): %f\n\r\n",length,y); - //pc.printf("Android t(%d): %f\n\r\n",length,t); + 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); } @@ -85,20 +100,16 @@ void connect() { ADB::poll(); - //pc.printf("connecting..."); + printf("connecting..."); char c = 'c'; connection->write(sizeof(c), (unsigned char*)&c); //wait(0.5); } -/*int main() +void init() { - pc.baud(460800); - - pc.printf("********************* MicroBridge 4568 ********************************\n\r"); - - // Initialise the ADB subsystem. +// Initialise the ADB subsystem. ADB::init(); // Open an ADB stream on tcp port 4568. Auto-reconnect @@ -110,6 +121,39 @@ wait(0.5); } +} + +void write2Android(char str [32]) +{ + connection->write(sizeof(str),(unsigned char*)&str); +} + +void writeActualPosition(float x, float y, float t) +{ + + while(!(androidConnected)) { + connect(); + wait(0.5); + } + + char str[32]; + sprintf( str, "%f;%f;%f;", x, y, t); + + //pc.printf("Sending: %s\n\r",str); + 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; @@ -132,4 +176,5 @@ wait(1); } -}*/ +} +*/ \ No newline at end of file