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
main.cpp@23:4d8173c5183b, 2013-05-19 (annotated)
- Committer:
- chrigelburri
- Date:
- Sun May 19 14:39:20 2013 +0000
- Revision:
- 23:4d8173c5183b
- Parent:
- 22:bfec16575c91
mit anzeige;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chrigelburri | 18:306d362d692b | 1 | |
chrigelburri | 10:09ddb819fdcb | 2 | /*! \mainpage Index Page |
chrigelburri | 2:d8e1613dc38b | 3 | * @author Christian Burri |
chrigelburri | 11:775ebb69d5e1 | 4 | * @author Arno Galliker |
chrigelburri | 2:d8e1613dc38b | 5 | * |
chrigelburri | 11:775ebb69d5e1 | 6 | * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 1:6cd533a712c6 | 7 | * All rights reserved. |
chrigelburri | 2:d8e1613dc38b | 8 | * |
chrigelburri | 11:775ebb69d5e1 | 9 | * @brief |
chrigelburri | 2:d8e1613dc38b | 10 | * |
chrigelburri | 15:cb1337567ad4 | 11 | * This program is for an autonomous robot for the competition |
chrigelburri | 4:3a97923ff2d4 | 12 | * at the Hochschule Luzern. |
chrigelburri | 3:92ba0254af87 | 13 | * We are one of the 32 teams. In the team #1 is: |
chrigelburri | 11:775ebb69d5e1 | 14 | * - Bauernfeind Julia <B>WI</B> <a href="mailto:julia.bauernfeind@stud.hslu.ch">julia.bauernfeind@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 15 | * - Büttler Pirmin <B>WI</B> <a href="mailto:pirmin.buetler@stud.hslu.ch">pirmin.buetler@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 16 | * - Amberg Reto <B>I</B> <a href="mailto:reto.amberg@stud.hslu.ch">reto.amberg@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 17 | * - Galliker Arno <B>I</B> <a href="mailto:arno.galliker@stud.hslu.ch">arno.galliker@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 18 | * - Amrein Marcel <B>M</B> <a href="mailto:marcel.amrein@stud.hslu.ch">marcel.amrein@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 19 | * - Flühler Ramon <B>M</B> <a href="mailto:ramon.fluehler@stud.hslu.ch">ramon.fluehler@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 20 | * - Burri Christian <B>ET</B> <a href="mailto:christian.burri@stud.hslu.ch">christian.burri@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 21 | * |
chrigelburri | 13:a7c30ee09bae | 22 | * The postition control is based on this Documentation: Control of Wheeled Mobile Robots: |
chrigelburri | 13:a7c30ee09bae | 23 | * An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. |
chrigelburri | 15:cb1337567ad4 | 24 | * For more information see here: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a> |
chrigelburri | 2:d8e1613dc38b | 25 | * |
chrigelburri | 21:48248c5b8992 | 26 | * The connection to an android smartphone is realise with the library MicroBridge(Android ADB) from Junichi Katsu. |
chrigelburri | 21:48248c5b8992 | 27 | * For more information see here: <a href="http://mbed.org/users/jksoft/code/MicroBridge/">http://mbed.org/users/jksoft/code/MicroBridge/</a> |
chrigelburri | 21:48248c5b8992 | 28 | * |
chrigelburri | 13:a7c30ee09bae | 29 | * The rest of the classes are only based on standard library from mbed. |
chrigelburri | 15:cb1337567ad4 | 30 | * For more information see here: <a href="http://mbed.org/users/mbed_official/code/mbed/">http://mbed.org/users/mbed_official/code/mbed/</a> |
chrigelburri | 1:6cd533a712c6 | 31 | */ |
chrigelburri | 1:6cd533a712c6 | 32 | |
chrigelburri | 11:775ebb69d5e1 | 33 | /** |
chrigelburri | 11:775ebb69d5e1 | 34 | * @file main.cpp |
chrigelburri | 11:775ebb69d5e1 | 35 | */ |
chrigelburri | 11:775ebb69d5e1 | 36 | |
chrigelburri | 1:6cd533a712c6 | 37 | #include "defines.h" |
chrigelburri | 1:6cd533a712c6 | 38 | #include "State.h" |
chrigelburri | 1:6cd533a712c6 | 39 | #include "RobotControl.h" |
chrigelburri | 18:306d362d692b | 40 | #include "androidADB.h" |
chrigelburri | 11:775ebb69d5e1 | 41 | |
chrigelburri | 11:775ebb69d5e1 | 42 | /** |
chrigelburri | 11:775ebb69d5e1 | 43 | * @name Hallsensor |
chrigelburri | 11:775ebb69d5e1 | 44 | * @{ |
chrigelburri | 11:775ebb69d5e1 | 45 | */ |
chrigelburri | 12:235e318a414f | 46 | |
chrigelburri | 12:235e318a414f | 47 | /** |
chrigelburri | 12:235e318a414f | 48 | * @brief <code>hallsensorLeft</code> object with pin15, pin17 and pin16 |
chrigelburri | 12:235e318a414f | 49 | */ |
chrigelburri | 11:775ebb69d5e1 | 50 | Hallsensor hallLeft(p18, p17, p16); |
chrigelburri | 12:235e318a414f | 51 | |
chrigelburri | 11:775ebb69d5e1 | 52 | /** |
chrigelburri | 11:775ebb69d5e1 | 53 | * @brief <code>hallsensorLeft</code> object with pin17, pin28 and pin29 |
chrigelburri | 11:775ebb69d5e1 | 54 | */ |
chrigelburri | 11:775ebb69d5e1 | 55 | Hallsensor hallRight(p27, p28, p29); |
chrigelburri | 11:775ebb69d5e1 | 56 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 57 | |
chrigelburri | 10:09ddb819fdcb | 58 | /** |
chrigelburri | 11:775ebb69d5e1 | 59 | * @name Motors and Robot Control |
chrigelburri | 12:235e318a414f | 60 | * @{ |
chrigelburri | 10:09ddb819fdcb | 61 | */ |
chrigelburri | 12:235e318a414f | 62 | |
chrigelburri | 12:235e318a414f | 63 | /** |
chrigelburri | 12:235e318a414f | 64 | * @brief <code>leftMotor</code> object with pin26, pin25, pin24, |
chrigelburri | 12:235e318a414f | 65 | * pin19 and <code>hallsensorLeft</code> object |
chrigelburri | 12:235e318a414f | 66 | */ |
chrigelburri | 1:6cd533a712c6 | 67 | MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft); |
chrigelburri | 12:235e318a414f | 68 | |
chrigelburri | 11:775ebb69d5e1 | 69 | /** |
chrigelburri | 12:235e318a414f | 70 | * @brief <code>rightMotor</code> object with pin23, pin22, pin21, |
chrigelburri | 12:235e318a414f | 71 | * pin20 and <code>hallsensorRight</code> object |
chrigelburri | 11:775ebb69d5e1 | 72 | */ |
chrigelburri | 1:6cd533a712c6 | 73 | MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight); |
chrigelburri | 1:6cd533a712c6 | 74 | |
chrigelburri | 11:775ebb69d5e1 | 75 | /** |
chrigelburri | 12:235e318a414f | 76 | * @brief <code>robotControl</code> object with <code>leftMotor</code>, |
chrigelburri | 12:235e318a414f | 77 | * <code>rightMotor</code> and the sampling rate for the run method |
chrigelburri | 11:775ebb69d5e1 | 78 | */ |
chrigelburri | 11:775ebb69d5e1 | 79 | RobotControl robotControl(&leftMotor, &rightMotor, PERIOD_ROBOTCONTROL); |
chrigelburri | 11:775ebb69d5e1 | 80 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 81 | |
chrigelburri | 11:775ebb69d5e1 | 82 | /** |
chrigelburri | 11:775ebb69d5e1 | 83 | * @name Logging & State |
chrigelburri | 11:775ebb69d5e1 | 84 | * @{ |
chrigelburri | 11:775ebb69d5e1 | 85 | */ |
chrigelburri | 12:235e318a414f | 86 | |
chrigelburri | 12:235e318a414f | 87 | /** |
chrigelburri | 12:235e318a414f | 88 | * @brief Define the struct for the State and the Logging |
chrigelburri | 12:235e318a414f | 89 | */ |
chrigelburri | 11:775ebb69d5e1 | 90 | state_t s; |
chrigelburri | 12:235e318a414f | 91 | |
chrigelburri | 11:775ebb69d5e1 | 92 | /** |
chrigelburri | 12:235e318a414f | 93 | * @brief <code>state</code> object with <code>robotControl</code>, |
chrigelburri | 12:235e318a414f | 94 | * <code>rightMotor</code>, <code>leftMotor</code>, <code>battery</code> |
chrigelburri | 12:235e318a414f | 95 | * and the sampling rate for the run method |
chrigelburri | 11:775ebb69d5e1 | 96 | */ |
chrigelburri | 11:775ebb69d5e1 | 97 | State state(&s, &robotControl, &leftMotor, &rightMotor, p15, PERIOD_STATE); |
chrigelburri | 11:775ebb69d5e1 | 98 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 99 | |
chrigelburri | 14:6a45a9f940a8 | 100 | /** |
chrigelburri | 14:6a45a9f940a8 | 101 | * @name Communication |
chrigelburri | 14:6a45a9f940a8 | 102 | * @{ |
chrigelburri | 14:6a45a9f940a8 | 103 | */ |
chrigelburri | 14:6a45a9f940a8 | 104 | |
chrigelburri | 14:6a45a9f940a8 | 105 | /*! @} */ |
chrigelburri | 14:6a45a9f940a8 | 106 | |
chrigelburri | 14:6a45a9f940a8 | 107 | |
chrigelburri | 12:235e318a414f | 108 | // @todo PC USB communications DAs wird danach gelöscht |
chrigelburri | 18:306d362d692b | 109 | Serial pc(USBTX, USBRX); |
chrigelburri | 1:6cd533a712c6 | 110 | |
chrigelburri | 23:4d8173c5183b | 111 | PwmOut led[4] = { LED1, LED2, LED3, LED4 }; |
chrigelburri | 23:4d8173c5183b | 112 | |
chrigelburri | 23:4d8173c5183b | 113 | |
chrigelburri | 12:235e318a414f | 114 | /** |
chrigelburri | 12:235e318a414f | 115 | * @brief Main function. Start the Programm here. |
chrigelburri | 12:235e318a414f | 116 | */ |
chrigelburri | 1:6cd533a712c6 | 117 | int main() |
chrigelburri | 1:6cd533a712c6 | 118 | { |
chrigelburri | 12:235e318a414f | 119 | |
chrigelburri | 22:bfec16575c91 | 120 | int garagenumber = 1; |
chrigelburri | 22:bfec16575c91 | 121 | float x = -2.954f + 0.308 * garagenumber; |
chrigelburri | 22:bfec16575c91 | 122 | float ypre = 1.30f; |
chrigelburri | 22:bfec16575c91 | 123 | float ygoal = 0.80f; |
chrigelburri | 22:bfec16575c91 | 124 | |
chrigelburri | 12:235e318a414f | 125 | /** |
chrigelburri | 22:bfec16575c91 | 126 | * Check at first the Battery voltage. Starts when the voltages greater as the min is. |
chrigelburri | 12:235e318a414f | 127 | * start the timer for the Logging to the file |
chrigelburri | 12:235e318a414f | 128 | * and start the Task for logging |
chrigelburri | 23:4d8173c5183b | 129 | * Slow PWM sample for the end |
chrigelburri | 12:235e318a414f | 130 | **/ |
chrigelburri | 22:bfec16575c91 | 131 | state.start(); |
chrigelburri | 22:bfec16575c91 | 132 | state.initPlotFile(); |
chrigelburri | 22:bfec16575c91 | 133 | state.closePlotFile(); |
chrigelburri | 23:4d8173c5183b | 134 | while(s.voltageBattery < BAT_MIN) { |
chrigelburri | 23:4d8173c5183b | 135 | for (float f = 0.1f; f < 6.3f; f += 0.1f) { |
chrigelburri | 23:4d8173c5183b | 136 | for(int i = 0; i <= 3; i ++) { |
chrigelburri | 23:4d8173c5183b | 137 | led[i] = state.dim( i, f ); |
chrigelburri | 23:4d8173c5183b | 138 | } |
chrigelburri | 23:4d8173c5183b | 139 | wait_ms(20); |
chrigelburri | 23:4d8173c5183b | 140 | } |
chrigelburri | 23:4d8173c5183b | 141 | wait(0.05); |
chrigelburri | 23:4d8173c5183b | 142 | for (float f = 0.1f; f < 6.3f; f += 0.1f) { |
chrigelburri | 23:4d8173c5183b | 143 | for(int i = 0; i <= 3; i ++) { |
chrigelburri | 23:4d8173c5183b | 144 | led[i] = state.dim( 3-i, f ); |
chrigelburri | 23:4d8173c5183b | 145 | } |
chrigelburri | 23:4d8173c5183b | 146 | wait_ms(20); |
chrigelburri | 23:4d8173c5183b | 147 | } |
chrigelburri | 23:4d8173c5183b | 148 | wait(0.05); |
chrigelburri | 23:4d8173c5183b | 149 | } |
chrigelburri | 22:bfec16575c91 | 150 | state.stop(); |
chrigelburri | 23:4d8173c5183b | 151 | for(int i = 0; i <= 3; i ++) { |
chrigelburri | 23:4d8173c5183b | 152 | led[i] = state.dim( 0, 0.0f ); |
chrigelburri | 23:4d8173c5183b | 153 | } |
chrigelburri | 22:bfec16575c91 | 154 | wait(0.5); |
chrigelburri | 22:bfec16575c91 | 155 | state.start(); |
chrigelburri | 16:b5d949136a21 | 156 | state.initPlotFile(); |
chrigelburri | 12:235e318a414f | 157 | state.startTimerFromZero(); |
chrigelburri | 12:235e318a414f | 158 | |
chrigelburri | 12:235e318a414f | 159 | /** |
chrigelburri | 12:235e318a414f | 160 | * Clear all Errors of the ESCON Module, with a disabled to enable event |
chrigelburri | 12:235e318a414f | 161 | */ |
chrigelburri | 1:6cd533a712c6 | 162 | robotControl.setEnable(false); |
chrigelburri | 16:b5d949136a21 | 163 | wait(0.01); |
chrigelburri | 1:6cd533a712c6 | 164 | robotControl.setEnable(true); |
chrigelburri | 6:48eeb41188dd | 165 | wait(0.1); |
chrigelburri | 12:235e318a414f | 166 | |
chrigelburri | 12:235e318a414f | 167 | /** |
chrigelburri | 12:235e318a414f | 168 | * Set the startposition and start the Task for controlling the roboter. |
chrigelburri | 12:235e318a414f | 169 | */ |
chrigelburri | 22:bfec16575c91 | 170 | // robotControl.setAllToZero(0, 0, PI/2 ); |
chrigelburri | 22:bfec16575c91 | 171 | robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); |
chrigelburri | 8:696c2f9dfc62 | 172 | robotControl.start(); |
chrigelburri | 22:bfec16575c91 | 173 | robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 22:bfec16575c91 | 174 | wait(0.1); |
chrigelburri | 22:bfec16575c91 | 175 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 176 | |
chrigelburri | 22:bfec16575c91 | 177 | /** |
chrigelburri | 22:bfec16575c91 | 178 | * Sets the desired Points. |
chrigelburri | 22:bfec16575c91 | 179 | */ |
chrigelburri | 22:bfec16575c91 | 180 | robotControl.setDesiredPositionAndAngle(-1.35f, 1.85f, 3*PI/8); |
chrigelburri | 22:bfec16575c91 | 181 | while(!(robotControl.getDistanceError() <= 0.7)) { |
chrigelburri | 22:bfec16575c91 | 182 | state.savePlotFile(s); |
chrigelburri | 22:bfec16575c91 | 183 | }; |
chrigelburri | 6:48eeb41188dd | 184 | |
chrigelburri | 22:bfec16575c91 | 185 | robotControl.setDesiredPositionAndAngle(-0.75f, 2.85f, 3*PI/8); |
chrigelburri | 22:bfec16575c91 | 186 | while(!(robotControl.getDistanceError() <= 0.7)) { |
chrigelburri | 22:bfec16575c91 | 187 | state.savePlotFile(s); |
chrigelburri | 22:bfec16575c91 | 188 | }; |
chrigelburri | 6:48eeb41188dd | 189 | |
chrigelburri | 22:bfec16575c91 | 190 | robotControl.setDesiredPositionAndAngle(-1.0f, 3.75f, 3*PI/4); |
chrigelburri | 22:bfec16575c91 | 191 | while(!(robotControl.getDistanceError() <= 0.55)) { |
chrigelburri | 22:bfec16575c91 | 192 | state.savePlotFile(s); |
chrigelburri | 22:bfec16575c91 | 193 | }; |
chrigelburri | 8:696c2f9dfc62 | 194 | |
chrigelburri | 22:bfec16575c91 | 195 | robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI); |
chrigelburri | 22:bfec16575c91 | 196 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 22:bfec16575c91 | 197 | state.savePlotFile(s); |
chrigelburri | 22:bfec16575c91 | 198 | }; |
chrigelburri | 11:775ebb69d5e1 | 199 | |
chrigelburri | 22:bfec16575c91 | 200 | robotControl.setDesiredPositionAndAngle(-2.1f, 3.0f, -PI/2); |
chrigelburri | 22:bfec16575c91 | 201 | while(!(robotControl.getDistanceError() <= 1.0)) { |
chrigelburri | 22:bfec16575c91 | 202 | state.savePlotFile(s); |
chrigelburri | 22:bfec16575c91 | 203 | }; |
chrigelburri | 12:235e318a414f | 204 | |
chrigelburri | 22:bfec16575c91 | 205 | robotControl.setDesiredPositionAndAngle(-2.0f, 1.8f, -PI/2); |
chrigelburri | 22:bfec16575c91 | 206 | while(!(robotControl.getDistanceError() <= 1.0)) { |
chrigelburri | 22:bfec16575c91 | 207 | state.savePlotFile(s); |
chrigelburri | 22:bfec16575c91 | 208 | }; |
chrigelburri | 22:bfec16575c91 | 209 | |
chrigelburri | 22:bfec16575c91 | 210 | robotControl.setDesiredPositionAndAngle(x, ypre, -PI/2); |
chrigelburri | 22:bfec16575c91 | 211 | while(!(robotControl.getDistanceError() <= 0.4)) { |
chrigelburri | 22:bfec16575c91 | 212 | state.savePlotFile(s); |
chrigelburri | 22:bfec16575c91 | 213 | }; |
chrigelburri | 22:bfec16575c91 | 214 | robotControl.setDesiredPositionAndAngle(x, ygoal, -PI/2); |
chrigelburri | 22:bfec16575c91 | 215 | while(!(s.millis >= 19000)) { |
chrigelburri | 22:bfec16575c91 | 216 | state.savePlotFile(s); |
chrigelburri | 22:bfec16575c91 | 217 | } |
chrigelburri | 8:696c2f9dfc62 | 218 | |
chrigelburri | 8:696c2f9dfc62 | 219 | |
chrigelburri | 22:bfec16575c91 | 220 | /* |
chrigelburri | 22:bfec16575c91 | 221 | pc.baud(460800); |
chrigelburri | 22:bfec16575c91 | 222 | pc.printf("********************* MicroBridge 4568 ********************************\n\r"); |
chrigelburri | 21:48248c5b8992 | 223 | |
chrigelburri | 22:bfec16575c91 | 224 | init(); |
chrigelburri | 19:b2f76b0fe4c8 | 225 | |
chrigelburri | 22:bfec16575c91 | 226 | // Initialise the ADB subsystem. |
chrigelburri | 19:b2f76b0fe4c8 | 227 | |
chrigelburri | 22:bfec16575c91 | 228 | pc.printf("connection isOpen\n"); |
chrigelburri | 21:48248c5b8992 | 229 | |
chrigelburri | 22:bfec16575c91 | 230 | while(getDesiredTheta() < (4 * PI)) { |
chrigelburri | 22:bfec16575c91 | 231 | |
chrigelburri | 22:bfec16575c91 | 232 | ADB::poll(); |
chrigelburri | 19:b2f76b0fe4c8 | 233 | |
chrigelburri | 22:bfec16575c91 | 234 | if (getDesiredTheta() > (2 * PI)) { |
chrigelburri | 22:bfec16575c91 | 235 | //robotControl.setAllToZero(0, 0, PI/2 ); |
chrigelburri | 22:bfec16575c91 | 236 | robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); |
chrigelburri | 22:bfec16575c91 | 237 | robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 22:bfec16575c91 | 238 | } |
chrigelburri | 22:bfec16575c91 | 239 | else |
chrigelburri | 22:bfec16575c91 | 240 | { |
chrigelburri | 22:bfec16575c91 | 241 | robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta()); |
chrigelburri | 21:48248c5b8992 | 242 | |
chrigelburri | 21:48248c5b8992 | 243 | |
chrigelburri | 22:bfec16575c91 | 244 | state.savePlotFile(s); |
chrigelburri | 22:bfec16575c91 | 245 | //void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b) |
chrigelburri | 22:bfec16575c91 | 246 | } |
chrigelburri | 22:bfec16575c91 | 247 | |
chrigelburri | 22:bfec16575c91 | 248 | writeActualPosition(robotControl.getxActualPosition(),robotControl.getyActualPosition(), robotControl.getActualTheta(), s.state&STATE_UNDER, s.state&STATE_LEFT, s.state&STATE_RIGHT, s.voltageBattery); |
chrigelburri | 22:bfec16575c91 | 249 | //connection->write(sizeof(str),(unsigned char*)&str); |
chrigelburri | 22:bfec16575c91 | 250 | |
chrigelburri | 22:bfec16575c91 | 251 | wait(0.25); |
chrigelburri | 22:bfec16575c91 | 252 | |
chrigelburri | 22:bfec16575c91 | 253 | } |
chrigelburri | 22:bfec16575c91 | 254 | |
chrigelburri | 22:bfec16575c91 | 255 | */ |
chrigelburri | 21:48248c5b8992 | 256 | /** |
chrigelburri | 21:48248c5b8992 | 257 | * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm |
chrigelburri | 21:48248c5b8992 | 258 | */ |
chrigelburri | 10:09ddb819fdcb | 259 | state.savePlotFile(s); |
chrigelburri | 10:09ddb819fdcb | 260 | state.closePlotFile(); |
chrigelburri | 10:09ddb819fdcb | 261 | state.stop(); |
chrigelburri | 10:09ddb819fdcb | 262 | robotControl.setEnable(false); |
chrigelburri | 23:4d8173c5183b | 263 | robotControl.stop(); |
chrigelburri | 23:4d8173c5183b | 264 | |
chrigelburri | 23:4d8173c5183b | 265 | /** |
chrigelburri | 23:4d8173c5183b | 266 | * Fast PWM sample for the end |
chrigelburri | 23:4d8173c5183b | 267 | */ |
chrigelburri | 23:4d8173c5183b | 268 | while(1) { |
chrigelburri | 23:4d8173c5183b | 269 | for (float f = 0.1f; f < 6.3f; f += 0.1f) { |
chrigelburri | 23:4d8173c5183b | 270 | for(int i = 0; i <= 3; i ++) { |
chrigelburri | 23:4d8173c5183b | 271 | led[i] = state.dim( i, f ); |
chrigelburri | 23:4d8173c5183b | 272 | } |
chrigelburri | 23:4d8173c5183b | 273 | wait_ms(5); |
chrigelburri | 23:4d8173c5183b | 274 | } |
chrigelburri | 23:4d8173c5183b | 275 | wait(0.1); |
chrigelburri | 23:4d8173c5183b | 276 | for (float f = 0.1f; f < 6.3f; f += 0.1f) { |
chrigelburri | 23:4d8173c5183b | 277 | for(int i = 0; i <= 3; i ++) { |
chrigelburri | 23:4d8173c5183b | 278 | led[i] = state.dim( 3-i, f ); |
chrigelburri | 23:4d8173c5183b | 279 | } |
chrigelburri | 23:4d8173c5183b | 280 | wait_ms(5); |
chrigelburri | 23:4d8173c5183b | 281 | } |
chrigelburri | 23:4d8173c5183b | 282 | wait(0.05); |
chrigelburri | 23:4d8173c5183b | 283 | } |
chrigelburri | 21:48248c5b8992 | 284 | |
chrigelburri | 10:09ddb819fdcb | 285 | } |