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

main.cpp

Committer:
chrigelburri
Date:
2013-03-03
Revision:
2:d8e1613dc38b
Parent:
1:6cd533a712c6
Child:
3:92ba0254af87

File content as of revision 2:d8e1613dc38b:

/**
 * @author Christian Burri
 *
 * @section LICENSE
 *
 * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
 * All rights reserved.
 *
 * @section DESCRIPTION
 *
 * ?????
 *
 */

#include "mbed.h"
#include "math.h"
#include "defines.h"
#include "State.h"
#include "HMC5883L.h"
#include "HMC6352.h"
#include "RobotControl.h"
#include "Ping.h"
#include "PowerControl/EthernetPowerControl.h"

// LiPo Batterie
AnalogIn battery(p15);           // Battery check

// compass
//HMC5883L compass(p9, p10, PERIOD_COMPASS);       // sda, sdl (I2C)
//HMC6352 compass(p9, p10, PERIOD_COMPASS);        // sda, sdl (I2C)

//Hallsensor
//hall1, hall2, hall3
Hallsensor hallLeft(p18, p17, p16);
//hall1, hall2, hall3
Hallsensor hallRight(p27, p28, p29);

// Motors
//enb, ready, pwm, actualSpeed, Hallsensor object
MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft);
//enb, ready, pwm, actualSpeed, Hallsensor object
MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight);

// Robot Control
RobotControl robotControl (&leftMotor, &rightMotor, /*&compass,*/ PERIOD_ROBOTCONTROL);

// Logging & State
state_t s; // stuct state
State state(&s, &robotControl, &leftMotor, &rightMotor, /*&compass,*/ &battery, PERIOD_STATE);

// PC USB communications
Serial pc(USBTX, USBRX);

DigitalOut myled(LED1);

//float magout[3] = {0};

// LiPo Batterie
float batterie_voltage;

int main()
{
    /** Normal mbed power level for this setup is around 690mW
    * assuming 5V used on Vin pin
    * If you don't need networking...
    * Power down Ethernet interface - saves around 175mW
    * Also need to unplug network cable - just a cable sucks power
    */
    PHY_PowerDown();

    //  robotControl.start();
    //  compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
    //  compass.start();
    
    state.initPlotFile();

    robotControl.start();
    robotControl.setEnable(false);
    wait(0.01);
    robotControl.setEnable(true);
    wait(0.01);
    robotControl.setAllToZero(0, 0, PI/2 );

    leftMotor.setPulses(0);
    rightMotor.setPulses(0);

    state.startTimerFromZero();
    state.start();

    robotControl.setPositionAngle(0.0f, 1.0f,  17*PI/18);
    while(!(s.millis >= 15000)) {
        state.savePlotFile(s);
    };

    robotControl.setPositionAngle(-1.0f, 1.0f,  -PI/2);
    while(!(s.millis >= 30000)) {
        state.savePlotFile(s);
    };

    robotControl.setPositionAngle(-1.0f, 0.0f,  0.0f);
    while(!(s.millis >= 45000)) {
        state.savePlotFile(s);
    };

    robotControl.setPositionAngle(0.0f, 1.0f, PI/2);
    while(!(s.millis >= 63000)) {
        state.savePlotFile(s);
    };

    state.savePlotFile(s);
    state.closePlotFile();
    state.stop();
    robotControl.setEnable(false);
}