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@11:775ebb69d5e1, 2013-04-05 (annotated)
- Committer:
- chrigelburri
- Date:
- Fri Apr 05 10:58:42 2013 +0000
- Revision:
- 11:775ebb69d5e1
- Parent:
- 10:09ddb819fdcb
- Child:
- 12:235e318a414f
doku soweit gut ohne android
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 | 4:3a97923ff2d4 | 21 | * The postition control is based on polar coordiantes. |
chrigelburri | 3:92ba0254af87 | 22 | * 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 | 23 | * |
chrigelburri | 11:775ebb69d5e1 | 24 | * |
chrigelburri | 1:6cd533a712c6 | 25 | */ |
chrigelburri | 1:6cd533a712c6 | 26 | |
chrigelburri | 11:775ebb69d5e1 | 27 | /** |
chrigelburri | 11:775ebb69d5e1 | 28 | * @file main.cpp |
chrigelburri | 11:775ebb69d5e1 | 29 | */ |
chrigelburri | 11:775ebb69d5e1 | 30 | |
chrigelburri | 1:6cd533a712c6 | 31 | #include "defines.h" |
chrigelburri | 1:6cd533a712c6 | 32 | #include "State.h" |
chrigelburri | 1:6cd533a712c6 | 33 | #include "RobotControl.h" |
chrigelburri | 6:48eeb41188dd | 34 | //#include "android.h" |
chrigelburri | 6:48eeb41188dd | 35 | |
chrigelburri | 6:48eeb41188dd | 36 | //Android |
chrigelburri | 11:775ebb69d5e1 | 37 | //AdkTerm adkTerm; |
chrigelburri | 11:775ebb69d5e1 | 38 | |
chrigelburri | 11:775ebb69d5e1 | 39 | /** |
chrigelburri | 11:775ebb69d5e1 | 40 | * @name Hallsensor |
chrigelburri | 11:775ebb69d5e1 | 41 | * @{ |
chrigelburri | 11:775ebb69d5e1 | 42 | */ |
chrigelburri | 11:775ebb69d5e1 | 43 | |
chrigelburri | 11:775ebb69d5e1 | 44 | /** |
chrigelburri | 11:775ebb69d5e1 | 45 | * @brief <code>hallsensorLeft</code> object with pin15, pin17 and pin16 |
chrigelburri | 11:775ebb69d5e1 | 46 | */ |
chrigelburri | 11:775ebb69d5e1 | 47 | Hallsensor hallLeft(p18, p17, p16); |
chrigelburri | 11:775ebb69d5e1 | 48 | /** |
chrigelburri | 11:775ebb69d5e1 | 49 | * @brief <code>hallsensorLeft</code> object with pin17, pin28 and pin29 |
chrigelburri | 11:775ebb69d5e1 | 50 | */ |
chrigelburri | 11:775ebb69d5e1 | 51 | Hallsensor hallRight(p27, p28, p29); |
chrigelburri | 11:775ebb69d5e1 | 52 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 53 | |
chrigelburri | 10:09ddb819fdcb | 54 | /** |
chrigelburri | 11:775ebb69d5e1 | 55 | * @name Motors and Robot Control |
chrigelburri | 11:775ebb69d5e1 | 56 | * @{ |
chrigelburri | 10:09ddb819fdcb | 57 | */ |
chrigelburri | 11:775ebb69d5e1 | 58 | |
chrigelburri | 11:775ebb69d5e1 | 59 | /** |
chrigelburri | 11:775ebb69d5e1 | 60 | * @brief <code>leftMotor</code> object with pin26, pin25, pin24, pin19 and <code>hallsensorLeft</code> object |
chrigelburri | 11:775ebb69d5e1 | 61 | */ |
chrigelburri | 1:6cd533a712c6 | 62 | MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft); |
chrigelburri | 11:775ebb69d5e1 | 63 | /** |
chrigelburri | 11:775ebb69d5e1 | 64 | * @brief <code>rightMotor</code> object with pin23, pin22, pin21, pin20 and <code>hallsensorRight</code> object |
chrigelburri | 11:775ebb69d5e1 | 65 | */ |
chrigelburri | 1:6cd533a712c6 | 66 | MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight); |
chrigelburri | 1:6cd533a712c6 | 67 | |
chrigelburri | 11:775ebb69d5e1 | 68 | /** |
chrigelburri | 11:775ebb69d5e1 | 69 | * @brief <code>robotControl</code> object with <code>leftMotor</code>, <code>rightMotor</code> and the sampling rate for the run method |
chrigelburri | 11:775ebb69d5e1 | 70 | */ |
chrigelburri | 11:775ebb69d5e1 | 71 | RobotControl robotControl(&leftMotor, &rightMotor, PERIOD_ROBOTCONTROL); |
chrigelburri | 11:775ebb69d5e1 | 72 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 73 | |
chrigelburri | 11:775ebb69d5e1 | 74 | /** |
chrigelburri | 11:775ebb69d5e1 | 75 | * @name Logging & State |
chrigelburri | 11:775ebb69d5e1 | 76 | * @{ |
chrigelburri | 11:775ebb69d5e1 | 77 | */ |
chrigelburri | 11:775ebb69d5e1 | 78 | |
chrigelburri | 11:775ebb69d5e1 | 79 | /** |
chrigelburri | 11:775ebb69d5e1 | 80 | * @brief Define the struct for the State and the Logging |
chrigelburri | 11:775ebb69d5e1 | 81 | */ |
chrigelburri | 11:775ebb69d5e1 | 82 | state_t s; |
chrigelburri | 11:775ebb69d5e1 | 83 | /** |
chrigelburri | 11:775ebb69d5e1 | 84 | * @brief <code>state</code> object with <code>robotControl</code>, <code>rightMotor</code>, <code>leftMotor</code>, <code>battery</code>, and the sampling rate for the run method |
chrigelburri | 11:775ebb69d5e1 | 85 | */ |
chrigelburri | 11:775ebb69d5e1 | 86 | State state(&s, &robotControl, &leftMotor, &rightMotor, p15, PERIOD_STATE); |
chrigelburri | 11:775ebb69d5e1 | 87 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 88 | |
chrigelburri | 11:775ebb69d5e1 | 89 | // PC USB communications DAs wird danach gelöscht |
chrigelburri | 11:775ebb69d5e1 | 90 | //Serial pc(USBTX, USBRX); |
chrigelburri | 1:6cd533a712c6 | 91 | |
chrigelburri | 1:6cd533a712c6 | 92 | int main() |
chrigelburri | 1:6cd533a712c6 | 93 | { |
chrigelburri | 11:775ebb69d5e1 | 94 | |
chrigelburri | 11:775ebb69d5e1 | 95 | state.initPlotFile(); |
chrigelburri | 11:775ebb69d5e1 | 96 | state.startTimerFromZero(); |
chrigelburri | 11:775ebb69d5e1 | 97 | state.start(); |
chrigelburri | 11:775ebb69d5e1 | 98 | |
chrigelburri | 1:6cd533a712c6 | 99 | robotControl.setEnable(false); |
chrigelburri | 6:48eeb41188dd | 100 | wait(0.1); |
chrigelburri | 1:6cd533a712c6 | 101 | robotControl.setEnable(true); |
chrigelburri | 6:48eeb41188dd | 102 | wait(0.1); |
chrigelburri | 11:775ebb69d5e1 | 103 | robotControl.setAllToZero(0, 0, PI/2 ); |
chrigelburri | 11:775ebb69d5e1 | 104 | // robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); |
chrigelburri | 8:696c2f9dfc62 | 105 | robotControl.start(); |
chrigelburri | 8:696c2f9dfc62 | 106 | |
chrigelburri | 8:696c2f9dfc62 | 107 | |
chrigelburri | 8:696c2f9dfc62 | 108 | // robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 8:696c2f9dfc62 | 109 | // robotControl.setDesiredPositionAndAngle(0, 0, PI/2); |
chrigelburri | 8:696c2f9dfc62 | 110 | // wait(0.1); |
chrigelburri | 8:696c2f9dfc62 | 111 | |
chrigelburri | 8:696c2f9dfc62 | 112 | ////////////////////////////////////////// |
chrigelburri | 11:775ebb69d5e1 | 113 | |
chrigelburri | 9:d3cdcdef9719 | 114 | robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI); |
chrigelburri | 9:d3cdcdef9719 | 115 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 9:d3cdcdef9719 | 116 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 117 | }; |
chrigelburri | 2:d8e1613dc38b | 118 | |
chrigelburri | 9:d3cdcdef9719 | 119 | robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2); |
chrigelburri | 9:d3cdcdef9719 | 120 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 9:d3cdcdef9719 | 121 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 122 | }; |
chrigelburri | 8:696c2f9dfc62 | 123 | |
chrigelburri | 9:d3cdcdef9719 | 124 | robotControl.setDesiredPositionAndAngle(0.0f, -0.8f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 125 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 9:d3cdcdef9719 | 126 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 127 | }; |
chrigelburri | 8:696c2f9dfc62 | 128 | |
chrigelburri | 9:d3cdcdef9719 | 129 | robotControl.setDesiredPositionAndAngle(0.0f, -0.2f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 130 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 9:d3cdcdef9719 | 131 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 132 | }; |
chrigelburri | 8:696c2f9dfc62 | 133 | |
chrigelburri | 9:d3cdcdef9719 | 134 | robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 135 | while(!(s.millis >= 32000)) { |
chrigelburri | 9:d3cdcdef9719 | 136 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 137 | }; |
chrigelburri | 11:775ebb69d5e1 | 138 | |
chrigelburri | 8:696c2f9dfc62 | 139 | |
chrigelburri | 8:696c2f9dfc62 | 140 | |
chrigelburri | 8:696c2f9dfc62 | 141 | |
chrigelburri | 8:696c2f9dfc62 | 142 | |
chrigelburri | 8:696c2f9dfc62 | 143 | ///////////////////////stay |
chrigelburri | 7:34be8b3a979c | 144 | /* |
chrigelburri | 8:696c2f9dfc62 | 145 | robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2); |
chrigelburri | 8:696c2f9dfc62 | 146 | while(!(s.millis >= 25000)) { |
chrigelburri | 6:48eeb41188dd | 147 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 148 | }; |
chrigelburri | 8:696c2f9dfc62 | 149 | */ |
chrigelburri | 8:696c2f9dfc62 | 150 | //////////////////////////stay |
chrigelburri | 5:48a258f6335e | 151 | |
chrigelburri | 8:696c2f9dfc62 | 152 | |
chrigelburri | 8:696c2f9dfc62 | 153 | |
chrigelburri | 8:696c2f9dfc62 | 154 | |
chrigelburri | 8:696c2f9dfc62 | 155 | |
chrigelburri | 8:696c2f9dfc62 | 156 | |
chrigelburri | 8:696c2f9dfc62 | 157 | |
chrigelburri | 8:696c2f9dfc62 | 158 | //////////////////////////////////////////////////////////////////////// |
chrigelburri | 8:696c2f9dfc62 | 159 | |
chrigelburri | 9:d3cdcdef9719 | 160 | /* |
chrigelburri | 9:d3cdcdef9719 | 161 | |
chrigelburri | 9:d3cdcdef9719 | 162 | //Zum Umfang einstellen 2m fahren |
chrigelburri | 9:d3cdcdef9719 | 163 | robotControl.setDesiredPositionAndAngle(0.0f, 0.5f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 164 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 9:d3cdcdef9719 | 165 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 166 | }; |
chrigelburri | 9:d3cdcdef9719 | 167 | |
chrigelburri | 9:d3cdcdef9719 | 168 | robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 169 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 9:d3cdcdef9719 | 170 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 171 | }; |
chrigelburri | 9:d3cdcdef9719 | 172 | robotControl.setDesiredPositionAndAngle(0.0f, 1.5f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 173 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 9:d3cdcdef9719 | 174 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 175 | }; |
chrigelburri | 8:696c2f9dfc62 | 176 | |
chrigelburri | 6:48eeb41188dd | 177 | |
chrigelburri | 9:d3cdcdef9719 | 178 | robotControl.setDesiredPositionAndAngle(0.0f, 2.0f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 179 | while(!(s.millis >= 30000)) { |
chrigelburri | 9:d3cdcdef9719 | 180 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 181 | }; |
chrigelburri | 8:696c2f9dfc62 | 182 | |
chrigelburri | 9:d3cdcdef9719 | 183 | */ |
chrigelburri | 8:696c2f9dfc62 | 184 | |
chrigelburri | 8:696c2f9dfc62 | 185 | |
chrigelburri | 8:696c2f9dfc62 | 186 | ///////////////oder//////////////////e |
chrigelburri | 8:696c2f9dfc62 | 187 | |
chrigelburri | 8:696c2f9dfc62 | 188 | |
chrigelburri | 8:696c2f9dfc62 | 189 | // Zum radabstand einstellen |
chrigelburri | 8:696c2f9dfc62 | 190 | |
chrigelburri | 8:696c2f9dfc62 | 191 | /* |
chrigelburri | 8:696c2f9dfc62 | 192 | robotControl.setDesiredPositionAndAngle(-0.7f, 1.0f, PI); |
chrigelburri | 7:34be8b3a979c | 193 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 7:34be8b3a979c | 194 | state.savePlotFile(s); |
chrigelburri | 7:34be8b3a979c | 195 | }; |
chrigelburri | 2:d8e1613dc38b | 196 | |
chrigelburri | 8:696c2f9dfc62 | 197 | robotControl.setDesiredPositionAndAngle(-0.8f, 1.0f, PI); |
chrigelburri | 8:696c2f9dfc62 | 198 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 7:34be8b3a979c | 199 | state.savePlotFile(s); |
chrigelburri | 7:34be8b3a979c | 200 | }; |
chrigelburri | 6:48eeb41188dd | 201 | |
chrigelburri | 6:48eeb41188dd | 202 | |
chrigelburri | 8:696c2f9dfc62 | 203 | robotControl.setDesiredPositionAndAngle(-1.0f, 1.0f, PI); |
chrigelburri | 8:696c2f9dfc62 | 204 | while(!(s.millis >= 30000)) { |
chrigelburri | 6:48eeb41188dd | 205 | state.savePlotFile(s); |
chrigelburri | 8:696c2f9dfc62 | 206 | } |
chrigelburri | 9:d3cdcdef9719 | 207 | |
chrigelburri | 8:696c2f9dfc62 | 208 | */ |
chrigelburri | 6:48eeb41188dd | 209 | |
chrigelburri | 6:48eeb41188dd | 210 | |
chrigelburri | 6:48eeb41188dd | 211 | //////////////////////////////////////////////////////// |
chrigelburri | 6:48eeb41188dd | 212 | |
chrigelburri | 6:48eeb41188dd | 213 | |
chrigelburri | 6:48eeb41188dd | 214 | |
chrigelburri | 6:48eeb41188dd | 215 | // Epä Parkour fahrä |
chrigelburri | 11:775ebb69d5e1 | 216 | /* |
chrigelburri | 11:775ebb69d5e1 | 217 | robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 11:775ebb69d5e1 | 218 | wait(0.1); |
chrigelburri | 6:48eeb41188dd | 219 | |
chrigelburri | 11:775ebb69d5e1 | 220 | robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f, 3*PI/4); |
chrigelburri | 11:775ebb69d5e1 | 221 | while(!(robotControl.getDistanceError() <= 0.9)) { |
chrigelburri | 11:775ebb69d5e1 | 222 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 223 | }; |
chrigelburri | 6:48eeb41188dd | 224 | |
chrigelburri | 11:775ebb69d5e1 | 225 | robotControl.setDesiredPositionAndAngle(-1.20f, 2.1f, PI/4); |
chrigelburri | 11:775ebb69d5e1 | 226 | while(!(robotControl.getDistanceError() <= 0.7)) { |
chrigelburri | 11:775ebb69d5e1 | 227 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 228 | }; |
chrigelburri | 5:48a258f6335e | 229 | |
chrigelburri | 11:775ebb69d5e1 | 230 | robotControl.setDesiredPositionAndAngle(-0.75f, 3.0f, PI/2); |
chrigelburri | 11:775ebb69d5e1 | 231 | while(!(robotControl.getDistanceError() <= 0.7)) { |
chrigelburri | 11:775ebb69d5e1 | 232 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 233 | }; |
chrigelburri | 6:48eeb41188dd | 234 | |
chrigelburri | 11:775ebb69d5e1 | 235 | robotControl.setDesiredPositionAndAngle(-1.0f, 3.75f, 3*PI/4); |
chrigelburri | 11:775ebb69d5e1 | 236 | while(!(robotControl.getDistanceError() <= 0.55)) { |
chrigelburri | 11:775ebb69d5e1 | 237 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 238 | }; |
chrigelburri | 8:696c2f9dfc62 | 239 | |
chrigelburri | 4:3a97923ff2d4 | 240 | |
chrigelburri | 11:775ebb69d5e1 | 241 | robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI); |
chrigelburri | 11:775ebb69d5e1 | 242 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 11:775ebb69d5e1 | 243 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 244 | }; |
chrigelburri | 11:775ebb69d5e1 | 245 | |
chrigelburri | 11:775ebb69d5e1 | 246 | robotControl.setDesiredPositionAndAngle(-2.6f, 3.0f, -PI/2); |
chrigelburri | 11:775ebb69d5e1 | 247 | while(!(robotControl.getDistanceError() <= 1.0)) { |
chrigelburri | 11:775ebb69d5e1 | 248 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 249 | }; |
chrigelburri | 11:775ebb69d5e1 | 250 | |
chrigelburri | 11:775ebb69d5e1 | 251 | robotControl.setDesiredPositionAndAngle(-1.74f, 1.30f, -PI/2); |
chrigelburri | 11:775ebb69d5e1 | 252 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 11:775ebb69d5e1 | 253 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 254 | }; |
chrigelburri | 11:775ebb69d5e1 | 255 | robotControl.setDesiredPositionAndAngle(-1.75f, 0.80f, -PI/2); |
chrigelburri | 11:775ebb69d5e1 | 256 | while(!(s.millis >= 32000)) { |
chrigelburri | 11:775ebb69d5e1 | 257 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 258 | } |
chrigelburri | 9:d3cdcdef9719 | 259 | |
chrigelburri | 11:775ebb69d5e1 | 260 | */ |
chrigelburri | 11:775ebb69d5e1 | 261 | |
chrigelburri | 11:775ebb69d5e1 | 262 | |
chrigelburri | 11:775ebb69d5e1 | 263 | |
chrigelburri | 11:775ebb69d5e1 | 264 | /* |
chrigelburri | 9:d3cdcdef9719 | 265 | |
chrigelburri | 11:775ebb69d5e1 | 266 | pc.baud(460800); |
chrigelburri | 11:775ebb69d5e1 | 267 | pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r"); |
chrigelburri | 11:775ebb69d5e1 | 268 | pc.printf("here we go... \n"); |
chrigelburri | 11:775ebb69d5e1 | 269 | adkTerm.setupDevice(); |
chrigelburri | 11:775ebb69d5e1 | 270 | pc.printf("Android Development Kit: start\r\n"); |
chrigelburri | 11:775ebb69d5e1 | 271 | USBInit(); |
chrigelburri | 11:775ebb69d5e1 | 272 | while (1) { |
chrigelburri | 11:775ebb69d5e1 | 273 | USBLoop(); |
chrigelburri | 11:775ebb69d5e1 | 274 | |
chrigelburri | 11:775ebb69d5e1 | 275 | pc.printf("Android x: %f ",adkTerm.getx()); |
chrigelburri | 11:775ebb69d5e1 | 276 | pc.printf("Android y: %f ",adkTerm.gety()); |
chrigelburri | 11:775ebb69d5e1 | 277 | pc.printf("Android t: %f\n",adkTerm.gett()); |
chrigelburri | 11:775ebb69d5e1 | 278 | robotControl.setDesiredPositionAndAngle(adkTerm.getx(), adkTerm.gety(), adkTerm.gett()); |
chrigelburri | 10:09ddb819fdcb | 279 | } |
chrigelburri | 8:696c2f9dfc62 | 280 | |
chrigelburri | 8:696c2f9dfc62 | 281 | |
chrigelburri | 8:696c2f9dfc62 | 282 | |
chrigelburri | 8:696c2f9dfc62 | 283 | |
chrigelburri | 10:09ddb819fdcb | 284 | state.savePlotFile(s); |
chrigelburri | 10:09ddb819fdcb | 285 | state.closePlotFile(); |
chrigelburri | 10:09ddb819fdcb | 286 | state.stop(); |
chrigelburri | 10:09ddb819fdcb | 287 | robotControl.setEnable(false); |
chrigelburri | 11:775ebb69d5e1 | 288 | */ |
chrigelburri | 10:09ddb819fdcb | 289 | } |