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@14:6a45a9f940a8, 2013-04-11 (annotated)
- Committer:
- chrigelburri
- Date:
- Thu Apr 11 09:22:35 2013 +0000
- Revision:
- 14:6a45a9f940a8
- Parent:
- 13:a7c30ee09bae
- Child:
- 15:cb1337567ad4
android 2.0 implemented (untested!)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chrigelburri | 10:09ddb819fdcb | 1 | /*! \mainpage Index Page |
chrigelburri | 2:d8e1613dc38b | 2 | * @author Christian Burri |
chrigelburri | 11:775ebb69d5e1 | 3 | * @author Arno Galliker |
chrigelburri | 2:d8e1613dc38b | 4 | * |
chrigelburri | 11:775ebb69d5e1 | 5 | * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 1:6cd533a712c6 | 6 | * All rights reserved. |
chrigelburri | 2:d8e1613dc38b | 7 | * |
chrigelburri | 11:775ebb69d5e1 | 8 | * @brief |
chrigelburri | 2:d8e1613dc38b | 9 | * |
chrigelburri | 3:92ba0254af87 | 10 | * This Programm is for a autonomous robot for the competition |
chrigelburri | 4:3a97923ff2d4 | 11 | * at the Hochschule Luzern. |
chrigelburri | 3:92ba0254af87 | 12 | * We are one of the 32 teams. In the team #1 is: |
chrigelburri | 11:775ebb69d5e1 | 13 | * - Bauernfeind Julia <B>WI</B> <a href="mailto:julia.bauernfeind@stud.hslu.ch">julia.bauernfeind@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 14 | * - Büttler Pirmin <B>WI</B> <a href="mailto:pirmin.buetler@stud.hslu.ch">pirmin.buetler@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 15 | * - Amberg Reto <B>I</B> <a href="mailto:reto.amberg@stud.hslu.ch">reto.amberg@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 16 | * - Galliker Arno <B>I</B> <a href="mailto:arno.galliker@stud.hslu.ch">arno.galliker@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 17 | * - Amrein Marcel <B>M</B> <a href="mailto:marcel.amrein@stud.hslu.ch">marcel.amrein@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 18 | * - Flühler Ramon <B>M</B> <a href="mailto:ramon.fluehler@stud.hslu.ch">ramon.fluehler@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 19 | * - Burri Christian <B>ET</B> <a href="mailto:christian.burri@stud.hslu.ch">christian.burri@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 20 | * |
chrigelburri | 13:a7c30ee09bae | 21 | * The postition control is based on this Documentation: Control of Wheeled Mobile Robots: |
chrigelburri | 13:a7c30ee09bae | 22 | * An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. |
chrigelburri | 3:92ba0254af87 | 23 | * For more information see here: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a> |
chrigelburri | 2:d8e1613dc38b | 24 | * |
chrigelburri | 13:a7c30ee09bae | 25 | * The connection to a android smartphone is realise with the library AndroidAccessory from Rich Bayliss. |
chrigelburri | 13:a7c30ee09bae | 26 | * For more information see here: <a href="https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/">a href="https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/</a> |
chrigelburri | 13:a7c30ee09bae | 27 | * |
chrigelburri | 13:a7c30ee09bae | 28 | * The rest of the classes are only based on standard library from mbed. |
chrigelburri | 13:a7c30ee09bae | 29 | * For more information see here: <a href="http://mbed.org/users/mbed_official/code/mbed/">a href="http://mbed.org/users/mbed_official/code/mbed/</a> |
chrigelburri | 1:6cd533a712c6 | 30 | */ |
chrigelburri | 1:6cd533a712c6 | 31 | |
chrigelburri | 11:775ebb69d5e1 | 32 | /** |
chrigelburri | 11:775ebb69d5e1 | 33 | * @file main.cpp |
chrigelburri | 11:775ebb69d5e1 | 34 | */ |
chrigelburri | 11:775ebb69d5e1 | 35 | |
chrigelburri | 1:6cd533a712c6 | 36 | #include "defines.h" |
chrigelburri | 1:6cd533a712c6 | 37 | #include "State.h" |
chrigelburri | 1:6cd533a712c6 | 38 | #include "RobotControl.h" |
chrigelburri | 14:6a45a9f940a8 | 39 | #include "android.h" |
chrigelburri | 11:775ebb69d5e1 | 40 | |
chrigelburri | 11:775ebb69d5e1 | 41 | /** |
chrigelburri | 11:775ebb69d5e1 | 42 | * @name Hallsensor |
chrigelburri | 11:775ebb69d5e1 | 43 | * @{ |
chrigelburri | 11:775ebb69d5e1 | 44 | */ |
chrigelburri | 12:235e318a414f | 45 | |
chrigelburri | 12:235e318a414f | 46 | /** |
chrigelburri | 12:235e318a414f | 47 | * @brief <code>hallsensorLeft</code> object with pin15, pin17 and pin16 |
chrigelburri | 12:235e318a414f | 48 | */ |
chrigelburri | 11:775ebb69d5e1 | 49 | Hallsensor hallLeft(p18, p17, p16); |
chrigelburri | 12:235e318a414f | 50 | |
chrigelburri | 11:775ebb69d5e1 | 51 | /** |
chrigelburri | 11:775ebb69d5e1 | 52 | * @brief <code>hallsensorLeft</code> object with pin17, pin28 and pin29 |
chrigelburri | 11:775ebb69d5e1 | 53 | */ |
chrigelburri | 11:775ebb69d5e1 | 54 | Hallsensor hallRight(p27, p28, p29); |
chrigelburri | 11:775ebb69d5e1 | 55 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 56 | |
chrigelburri | 10:09ddb819fdcb | 57 | /** |
chrigelburri | 11:775ebb69d5e1 | 58 | * @name Motors and Robot Control |
chrigelburri | 12:235e318a414f | 59 | * @{ |
chrigelburri | 10:09ddb819fdcb | 60 | */ |
chrigelburri | 12:235e318a414f | 61 | |
chrigelburri | 12:235e318a414f | 62 | /** |
chrigelburri | 12:235e318a414f | 63 | * @brief <code>leftMotor</code> object with pin26, pin25, pin24, |
chrigelburri | 12:235e318a414f | 64 | * pin19 and <code>hallsensorLeft</code> object |
chrigelburri | 12:235e318a414f | 65 | */ |
chrigelburri | 1:6cd533a712c6 | 66 | MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft); |
chrigelburri | 12:235e318a414f | 67 | |
chrigelburri | 11:775ebb69d5e1 | 68 | /** |
chrigelburri | 12:235e318a414f | 69 | * @brief <code>rightMotor</code> object with pin23, pin22, pin21, |
chrigelburri | 12:235e318a414f | 70 | * pin20 and <code>hallsensorRight</code> object |
chrigelburri | 11:775ebb69d5e1 | 71 | */ |
chrigelburri | 1:6cd533a712c6 | 72 | MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight); |
chrigelburri | 1:6cd533a712c6 | 73 | |
chrigelburri | 11:775ebb69d5e1 | 74 | /** |
chrigelburri | 12:235e318a414f | 75 | * @brief <code>robotControl</code> object with <code>leftMotor</code>, |
chrigelburri | 12:235e318a414f | 76 | * <code>rightMotor</code> and the sampling rate for the run method |
chrigelburri | 11:775ebb69d5e1 | 77 | */ |
chrigelburri | 11:775ebb69d5e1 | 78 | RobotControl robotControl(&leftMotor, &rightMotor, PERIOD_ROBOTCONTROL); |
chrigelburri | 11:775ebb69d5e1 | 79 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 80 | |
chrigelburri | 11:775ebb69d5e1 | 81 | /** |
chrigelburri | 11:775ebb69d5e1 | 82 | * @name Logging & State |
chrigelburri | 11:775ebb69d5e1 | 83 | * @{ |
chrigelburri | 11:775ebb69d5e1 | 84 | */ |
chrigelburri | 12:235e318a414f | 85 | |
chrigelburri | 12:235e318a414f | 86 | /** |
chrigelburri | 12:235e318a414f | 87 | * @brief Define the struct for the State and the Logging |
chrigelburri | 12:235e318a414f | 88 | */ |
chrigelburri | 11:775ebb69d5e1 | 89 | state_t s; |
chrigelburri | 12:235e318a414f | 90 | |
chrigelburri | 11:775ebb69d5e1 | 91 | /** |
chrigelburri | 12:235e318a414f | 92 | * @brief <code>state</code> object with <code>robotControl</code>, |
chrigelburri | 12:235e318a414f | 93 | * <code>rightMotor</code>, <code>leftMotor</code>, <code>battery</code> |
chrigelburri | 12:235e318a414f | 94 | * and the sampling rate for the run method |
chrigelburri | 11:775ebb69d5e1 | 95 | */ |
chrigelburri | 11:775ebb69d5e1 | 96 | State state(&s, &robotControl, &leftMotor, &rightMotor, p15, PERIOD_STATE); |
chrigelburri | 11:775ebb69d5e1 | 97 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 98 | |
chrigelburri | 14:6a45a9f940a8 | 99 | /** |
chrigelburri | 14:6a45a9f940a8 | 100 | * @name Communication |
chrigelburri | 14:6a45a9f940a8 | 101 | * @{ |
chrigelburri | 14:6a45a9f940a8 | 102 | */ |
chrigelburri | 14:6a45a9f940a8 | 103 | |
chrigelburri | 14:6a45a9f940a8 | 104 | /** |
chrigelburri | 14:6a45a9f940a8 | 105 | * @brief <code>adkTerm</code> object is for the communication with a smartphone. |
chrigelburri | 14:6a45a9f940a8 | 106 | * The operation system must be a android. |
chrigelburri | 14:6a45a9f940a8 | 107 | */ |
chrigelburri | 14:6a45a9f940a8 | 108 | AdkTerm adkTerm(&robotControl, &s, PERIOD_ANDROID); |
chrigelburri | 14:6a45a9f940a8 | 109 | /*! @} */ |
chrigelburri | 14:6a45a9f940a8 | 110 | |
chrigelburri | 14:6a45a9f940a8 | 111 | |
chrigelburri | 12:235e318a414f | 112 | // @todo PC USB communications DAs wird danach gelöscht |
chrigelburri | 14:6a45a9f940a8 | 113 | Serial pc(USBTX, USBRX); |
chrigelburri | 1:6cd533a712c6 | 114 | |
chrigelburri | 12:235e318a414f | 115 | /** |
chrigelburri | 12:235e318a414f | 116 | * @brief Main function. Start the Programm here. |
chrigelburri | 12:235e318a414f | 117 | */ |
chrigelburri | 1:6cd533a712c6 | 118 | int main() |
chrigelburri | 1:6cd533a712c6 | 119 | { |
chrigelburri | 12:235e318a414f | 120 | |
chrigelburri | 12:235e318a414f | 121 | /** |
chrigelburri | 12:235e318a414f | 122 | * Initialze the filt PLOTS.txt, |
chrigelburri | 12:235e318a414f | 123 | * start the timer for the Logging to the file |
chrigelburri | 12:235e318a414f | 124 | * and start the Task for logging |
chrigelburri | 12:235e318a414f | 125 | **/ |
chrigelburri | 12:235e318a414f | 126 | state.initPlotFile(); |
chrigelburri | 12:235e318a414f | 127 | state.startTimerFromZero(); |
chrigelburri | 12:235e318a414f | 128 | state.start(); |
chrigelburri | 12:235e318a414f | 129 | |
chrigelburri | 12:235e318a414f | 130 | /** |
chrigelburri | 12:235e318a414f | 131 | * Clear all Errors of the ESCON Module, with a disabled to enable event |
chrigelburri | 12:235e318a414f | 132 | */ |
chrigelburri | 1:6cd533a712c6 | 133 | robotControl.setEnable(false); |
chrigelburri | 6:48eeb41188dd | 134 | wait(0.1); |
chrigelburri | 1:6cd533a712c6 | 135 | robotControl.setEnable(true); |
chrigelburri | 6:48eeb41188dd | 136 | wait(0.1); |
chrigelburri | 12:235e318a414f | 137 | |
chrigelburri | 12:235e318a414f | 138 | /** |
chrigelburri | 12:235e318a414f | 139 | * Set the startposition and start the Task for controlling the roboter. |
chrigelburri | 12:235e318a414f | 140 | */ |
chrigelburri | 11:775ebb69d5e1 | 141 | robotControl.setAllToZero(0, 0, PI/2 ); |
chrigelburri | 11:775ebb69d5e1 | 142 | // robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); |
chrigelburri | 8:696c2f9dfc62 | 143 | robotControl.start(); |
chrigelburri | 14:6a45a9f940a8 | 144 | |
chrigelburri | 14:6a45a9f940a8 | 145 | pc.baud(460800); |
chrigelburri | 14:6a45a9f940a8 | 146 | pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r"); |
chrigelburri | 14:6a45a9f940a8 | 147 | pc.printf("here we go... \n"); |
chrigelburri | 14:6a45a9f940a8 | 148 | adkTerm.setupDevice(); |
chrigelburri | 14:6a45a9f940a8 | 149 | pc.printf("Android Development Kit: start\r\n"); |
chrigelburri | 14:6a45a9f940a8 | 150 | USBInit(); |
chrigelburri | 14:6a45a9f940a8 | 151 | |
chrigelburri | 14:6a45a9f940a8 | 152 | adkTerm.start(); |
chrigelburri | 8:696c2f9dfc62 | 153 | |
chrigelburri | 8:696c2f9dfc62 | 154 | |
chrigelburri | 8:696c2f9dfc62 | 155 | // robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 8:696c2f9dfc62 | 156 | // robotControl.setDesiredPositionAndAngle(0, 0, PI/2); |
chrigelburri | 8:696c2f9dfc62 | 157 | // wait(0.1); |
chrigelburri | 8:696c2f9dfc62 | 158 | |
chrigelburri | 8:696c2f9dfc62 | 159 | ////////////////////////////////////////// |
chrigelburri | 14:6a45a9f940a8 | 160 | /* |
chrigelburri | 12:235e318a414f | 161 | robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI); |
chrigelburri | 12:235e318a414f | 162 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 12:235e318a414f | 163 | state.savePlotFile(s); |
chrigelburri | 12:235e318a414f | 164 | }; |
chrigelburri | 12:235e318a414f | 165 | |
chrigelburri | 12:235e318a414f | 166 | robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2); |
chrigelburri | 12:235e318a414f | 167 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 12:235e318a414f | 168 | state.savePlotFile(s); |
chrigelburri | 12:235e318a414f | 169 | }; |
chrigelburri | 8:696c2f9dfc62 | 170 | |
chrigelburri | 12:235e318a414f | 171 | robotControl.setDesiredPositionAndAngle(0.0f, -0.8f, PI/2); |
chrigelburri | 12:235e318a414f | 172 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 12:235e318a414f | 173 | state.savePlotFile(s); |
chrigelburri | 12:235e318a414f | 174 | }; |
chrigelburri | 8:696c2f9dfc62 | 175 | |
chrigelburri | 12:235e318a414f | 176 | robotControl.setDesiredPositionAndAngle(0.0f, -0.2f, PI/2); |
chrigelburri | 12:235e318a414f | 177 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 12:235e318a414f | 178 | state.savePlotFile(s); |
chrigelburri | 12:235e318a414f | 179 | }; |
chrigelburri | 8:696c2f9dfc62 | 180 | |
chrigelburri | 12:235e318a414f | 181 | robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2); |
chrigelburri | 12:235e318a414f | 182 | while(!(s.millis >= 32000)) { |
chrigelburri | 12:235e318a414f | 183 | state.savePlotFile(s); |
chrigelburri | 12:235e318a414f | 184 | }; |
chrigelburri | 12:235e318a414f | 185 | |
chrigelburri | 14:6a45a9f940a8 | 186 | */ |
chrigelburri | 8:696c2f9dfc62 | 187 | |
chrigelburri | 8:696c2f9dfc62 | 188 | |
chrigelburri | 8:696c2f9dfc62 | 189 | |
chrigelburri | 8:696c2f9dfc62 | 190 | ///////////////////////stay |
chrigelburri | 7:34be8b3a979c | 191 | /* |
chrigelburri | 8:696c2f9dfc62 | 192 | robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2); |
chrigelburri | 8:696c2f9dfc62 | 193 | while(!(s.millis >= 25000)) { |
chrigelburri | 6:48eeb41188dd | 194 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 195 | }; |
chrigelburri | 8:696c2f9dfc62 | 196 | */ |
chrigelburri | 8:696c2f9dfc62 | 197 | //////////////////////////stay |
chrigelburri | 5:48a258f6335e | 198 | |
chrigelburri | 8:696c2f9dfc62 | 199 | |
chrigelburri | 8:696c2f9dfc62 | 200 | |
chrigelburri | 8:696c2f9dfc62 | 201 | |
chrigelburri | 8:696c2f9dfc62 | 202 | |
chrigelburri | 8:696c2f9dfc62 | 203 | |
chrigelburri | 8:696c2f9dfc62 | 204 | |
chrigelburri | 8:696c2f9dfc62 | 205 | //////////////////////////////////////////////////////////////////////// |
chrigelburri | 8:696c2f9dfc62 | 206 | |
chrigelburri | 9:d3cdcdef9719 | 207 | /* |
chrigelburri | 9:d3cdcdef9719 | 208 | |
chrigelburri | 9:d3cdcdef9719 | 209 | //Zum Umfang einstellen 2m fahren |
chrigelburri | 9:d3cdcdef9719 | 210 | robotControl.setDesiredPositionAndAngle(0.0f, 0.5f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 211 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 9:d3cdcdef9719 | 212 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 213 | }; |
chrigelburri | 9:d3cdcdef9719 | 214 | |
chrigelburri | 9:d3cdcdef9719 | 215 | robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 216 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 9:d3cdcdef9719 | 217 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 218 | }; |
chrigelburri | 9:d3cdcdef9719 | 219 | robotControl.setDesiredPositionAndAngle(0.0f, 1.5f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 220 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 9:d3cdcdef9719 | 221 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 222 | }; |
chrigelburri | 8:696c2f9dfc62 | 223 | |
chrigelburri | 6:48eeb41188dd | 224 | |
chrigelburri | 9:d3cdcdef9719 | 225 | robotControl.setDesiredPositionAndAngle(0.0f, 2.0f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 226 | while(!(s.millis >= 30000)) { |
chrigelburri | 9:d3cdcdef9719 | 227 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 228 | }; |
chrigelburri | 8:696c2f9dfc62 | 229 | |
chrigelburri | 9:d3cdcdef9719 | 230 | */ |
chrigelburri | 8:696c2f9dfc62 | 231 | |
chrigelburri | 8:696c2f9dfc62 | 232 | |
chrigelburri | 8:696c2f9dfc62 | 233 | ///////////////oder//////////////////e |
chrigelburri | 8:696c2f9dfc62 | 234 | |
chrigelburri | 8:696c2f9dfc62 | 235 | |
chrigelburri | 8:696c2f9dfc62 | 236 | // Zum radabstand einstellen |
chrigelburri | 8:696c2f9dfc62 | 237 | |
chrigelburri | 8:696c2f9dfc62 | 238 | /* |
chrigelburri | 8:696c2f9dfc62 | 239 | robotControl.setDesiredPositionAndAngle(-0.7f, 1.0f, PI); |
chrigelburri | 7:34be8b3a979c | 240 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 7:34be8b3a979c | 241 | state.savePlotFile(s); |
chrigelburri | 7:34be8b3a979c | 242 | }; |
chrigelburri | 2:d8e1613dc38b | 243 | |
chrigelburri | 8:696c2f9dfc62 | 244 | robotControl.setDesiredPositionAndAngle(-0.8f, 1.0f, PI); |
chrigelburri | 8:696c2f9dfc62 | 245 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 7:34be8b3a979c | 246 | state.savePlotFile(s); |
chrigelburri | 7:34be8b3a979c | 247 | }; |
chrigelburri | 6:48eeb41188dd | 248 | |
chrigelburri | 6:48eeb41188dd | 249 | |
chrigelburri | 8:696c2f9dfc62 | 250 | robotControl.setDesiredPositionAndAngle(-1.0f, 1.0f, PI); |
chrigelburri | 8:696c2f9dfc62 | 251 | while(!(s.millis >= 30000)) { |
chrigelburri | 6:48eeb41188dd | 252 | state.savePlotFile(s); |
chrigelburri | 8:696c2f9dfc62 | 253 | } |
chrigelburri | 9:d3cdcdef9719 | 254 | |
chrigelburri | 8:696c2f9dfc62 | 255 | */ |
chrigelburri | 6:48eeb41188dd | 256 | |
chrigelburri | 6:48eeb41188dd | 257 | |
chrigelburri | 6:48eeb41188dd | 258 | //////////////////////////////////////////////////////// |
chrigelburri | 6:48eeb41188dd | 259 | |
chrigelburri | 6:48eeb41188dd | 260 | |
chrigelburri | 6:48eeb41188dd | 261 | |
chrigelburri | 6:48eeb41188dd | 262 | // Epä Parkour fahrä |
chrigelburri | 11:775ebb69d5e1 | 263 | /* |
chrigelburri | 11:775ebb69d5e1 | 264 | robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 11:775ebb69d5e1 | 265 | wait(0.1); |
chrigelburri | 6:48eeb41188dd | 266 | |
chrigelburri | 11:775ebb69d5e1 | 267 | robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f, 3*PI/4); |
chrigelburri | 11:775ebb69d5e1 | 268 | while(!(robotControl.getDistanceError() <= 0.9)) { |
chrigelburri | 11:775ebb69d5e1 | 269 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 270 | }; |
chrigelburri | 6:48eeb41188dd | 271 | |
chrigelburri | 11:775ebb69d5e1 | 272 | robotControl.setDesiredPositionAndAngle(-1.20f, 2.1f, PI/4); |
chrigelburri | 11:775ebb69d5e1 | 273 | while(!(robotControl.getDistanceError() <= 0.7)) { |
chrigelburri | 11:775ebb69d5e1 | 274 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 275 | }; |
chrigelburri | 5:48a258f6335e | 276 | |
chrigelburri | 11:775ebb69d5e1 | 277 | robotControl.setDesiredPositionAndAngle(-0.75f, 3.0f, PI/2); |
chrigelburri | 11:775ebb69d5e1 | 278 | while(!(robotControl.getDistanceError() <= 0.7)) { |
chrigelburri | 11:775ebb69d5e1 | 279 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 280 | }; |
chrigelburri | 6:48eeb41188dd | 281 | |
chrigelburri | 11:775ebb69d5e1 | 282 | robotControl.setDesiredPositionAndAngle(-1.0f, 3.75f, 3*PI/4); |
chrigelburri | 11:775ebb69d5e1 | 283 | while(!(robotControl.getDistanceError() <= 0.55)) { |
chrigelburri | 11:775ebb69d5e1 | 284 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 285 | }; |
chrigelburri | 8:696c2f9dfc62 | 286 | |
chrigelburri | 4:3a97923ff2d4 | 287 | |
chrigelburri | 11:775ebb69d5e1 | 288 | robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI); |
chrigelburri | 11:775ebb69d5e1 | 289 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 11:775ebb69d5e1 | 290 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 291 | }; |
chrigelburri | 11:775ebb69d5e1 | 292 | |
chrigelburri | 11:775ebb69d5e1 | 293 | robotControl.setDesiredPositionAndAngle(-2.6f, 3.0f, -PI/2); |
chrigelburri | 11:775ebb69d5e1 | 294 | while(!(robotControl.getDistanceError() <= 1.0)) { |
chrigelburri | 11:775ebb69d5e1 | 295 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 296 | }; |
chrigelburri | 11:775ebb69d5e1 | 297 | |
chrigelburri | 11:775ebb69d5e1 | 298 | robotControl.setDesiredPositionAndAngle(-1.74f, 1.30f, -PI/2); |
chrigelburri | 11:775ebb69d5e1 | 299 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 11:775ebb69d5e1 | 300 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 301 | }; |
chrigelburri | 11:775ebb69d5e1 | 302 | robotControl.setDesiredPositionAndAngle(-1.75f, 0.80f, -PI/2); |
chrigelburri | 11:775ebb69d5e1 | 303 | while(!(s.millis >= 32000)) { |
chrigelburri | 11:775ebb69d5e1 | 304 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 305 | } |
chrigelburri | 9:d3cdcdef9719 | 306 | |
chrigelburri | 11:775ebb69d5e1 | 307 | */ |
chrigelburri | 14:6a45a9f940a8 | 308 | |
chrigelburri | 12:235e318a414f | 309 | while (1) { |
chrigelburri | 12:235e318a414f | 310 | USBLoop(); |
chrigelburri | 12:235e318a414f | 311 | |
chrigelburri | 14:6a45a9f940a8 | 312 | pc.printf("From Android x: %f y: %f t: %f",adkTerm.getDesiredX(), adkTerm.getDesiredY(),adkTerm.getDesiredTheta()); |
chrigelburri | 14:6a45a9f940a8 | 313 | robotControl.setDesiredPositionAndAngle(adkTerm.getDesiredX(), adkTerm.getDesiredY(), adkTerm.getDesiredTheta()); |
chrigelburri | 14:6a45a9f940a8 | 314 | |
chrigelburri | 14:6a45a9f940a8 | 315 | pc.printf( "To Android: x: %f y: %f t: %f; \n \n", robotControl.getxActualPosition(), |
chrigelburri | 14:6a45a9f940a8 | 316 | robotControl.getyActualPosition(), |
chrigelburri | 14:6a45a9f940a8 | 317 | robotControl.getActualTheta()); |
chrigelburri | 12:235e318a414f | 318 | } |
chrigelburri | 8:696c2f9dfc62 | 319 | |
chrigelburri | 8:696c2f9dfc62 | 320 | |
chrigelburri | 8:696c2f9dfc62 | 321 | |
chrigelburri | 12:235e318a414f | 322 | /** |
chrigelburri | 12:235e318a414f | 323 | * Close the File PLOTS.txt to read the file after with the computer and draw a diagramm |
chrigelburri | 12:235e318a414f | 324 | */ |
chrigelburri | 12:235e318a414f | 325 | /* |
chrigelburri | 10:09ddb819fdcb | 326 | state.savePlotFile(s); |
chrigelburri | 10:09ddb819fdcb | 327 | state.closePlotFile(); |
chrigelburri | 10:09ddb819fdcb | 328 | state.stop(); |
chrigelburri | 10:09ddb819fdcb | 329 | robotControl.setEnable(false); |
chrigelburri | 11:775ebb69d5e1 | 330 | */ |
chrigelburri | 10:09ddb819fdcb | 331 | } |