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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: RobotControl/RobotControl.cpp
- Revision:
- 37:fd68b9e0be08
- Parent:
- 14:6a45a9f940a8
--- a/RobotControl/RobotControl.cpp Sat May 25 15:42:24 2013 +0000 +++ b/RobotControl/RobotControl.cpp Sun Jun 09 17:37:20 2013 +0000 @@ -216,8 +216,10 @@ Actual.yposition += (Actual.speed * period * sin(Actual.theta)); //motor control - if ( isEnabled() && ( getDistanceError() >= MIN_DISTANCE_ERROR ) ) { - + if ( /*isEnabled() && */ ( getDistanceError() >= MIN_DISTANCE_ERROR ) ) { + + motorControllerLeft->enable(true); + motorControllerRight->enable(true); //postition control speed = K1 * getDistanceError() * cos( getThetaErrorToGoal() ); omega = K2 * getThetaErrorToGoal() + @@ -240,6 +242,9 @@ ); } else { + + motorControllerLeft->enable(false); + motorControllerRight->enable(false); motorControllerLeft->setVelocity(0.0f); motorControllerRight->setVelocity(0.0f); }