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:
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