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

State/State.h@39:a4fd6206da89, 2013-06-10 (annotated)

Committer:
chrigelburri
Date:
Mon Jun 10 14:40:37 2013 +0000
Revision:
39:a4fd6206da89
Parent:
38:d76e488e725f 
V1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 0:31f7be68e52d 1 #ifndef _STATE_H_
chrigelburri 0:31f7be68e52d 2 #define _STATE_H_
chrigelburri 0:31f7be68e52d 3
chrigelburri 0:31f7be68e52d 4 #include "MaxonESCON.h"
chrigelburri 0:31f7be68e52d 5 #include "RobotControl.h"
chrigelburri 0:31f7be68e52d 6 #include "Task.h"
chrigelburri 0:31f7be68e52d 7 #include "defines.h"
chrigelburri 0:31f7be68e52d 8
chrigelburri 0:31f7be68e52d 9 /**
chrigelburri 0:31f7be68e52d 10 * @author Christian Burri
chrigelburri 0:31f7be68e52d 11 *
chrigelburri 38:d76e488e725f 12 * @copyright Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe
chrigelburri 0:31f7be68e52d 13 * All rights reserved.
chrigelburri 0:31f7be68e52d 14 *
chrigelburri 11:775ebb69d5e1 15 * @brief
chrigelburri 0:31f7be68e52d 16 *
chrigelburri 0:31f7be68e52d 17 * State is the main mechanism for communicating current realtime system state to
chrigelburri 0:31f7be68e52d 18 * the rest of the system for logging etc.
chrigelburri 6:48eeb41188dd 19 *
chrigelburri 38:d76e488e725f 20 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
chrigelburri 38:d76e488e725f 21 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
chrigelburri 38:d76e488e725f 22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
chrigelburri 38:d76e488e725f 23 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
chrigelburri 38:d76e488e725f 24 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
chrigelburri 38:d76e488e725f 25 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
chrigelburri 38:d76e488e725f 26 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
chrigelburri 0:31f7be68e52d 27 */
chrigelburri 0:31f7be68e52d 28
chrigelburri 0:31f7be68e52d 29 class State : public Task
chrigelburri 0:31f7be68e52d 30 {
chrigelburri 0:31f7be68e52d 31
chrigelburri 0:31f7be68e52d 32 private:
chrigelburri 0:31f7be68e52d 33
chrigelburri 11:775ebb69d5e1 34 state_t* s;
chrigelburri 0:31f7be68e52d 35 RobotControl* robotControl;
chrigelburri 0:31f7be68e52d 36 MaxonESCON* motorControllerLeft;
chrigelburri 0:31f7be68e52d 37 MaxonESCON* motorControllerRight;
chrigelburri 11:775ebb69d5e1 38 AnalogIn battery;
chrigelburri 0:31f7be68e52d 39 Timer timer;
chrigelburri 0:31f7be68e52d 40 float period;
chrigelburri 0:31f7be68e52d 41
chrigelburri 0:31f7be68e52d 42 public:
chrigelburri 0:31f7be68e52d 43
chrigelburri 0:31f7be68e52d 44 /**
chrigelburri 11:775ebb69d5e1 45 * @brief Creates a robot control object and initializes all private state variables.
chrigelburri 3:92ba0254af87 46 * @param s struct to read and write the state
chrigelburri 3:92ba0254af87 47 * @param robotControl Object to read the state
chrigelburri 3:92ba0254af87 48 * @param motorControllerLeft a reference to the servo drive for the left motor
chrigelburri 3:92ba0254af87 49 * @param motorControllerRight a reference to the servo drive for the right motor
chrigelburri 11:775ebb69d5e1 50 * @param batteryPin mbed pin for analog Input Battery Voltage
chrigelburri 3:92ba0254af87 51 * @param period the sampling period of the run loop of this controller, given in [s]
chrigelburri 0:31f7be68e52d 52 */
chrigelburri 6:48eeb41188dd 53 State(state_t* s,
chrigelburri 6:48eeb41188dd 54 RobotControl* robotControl,
chrigelburri 6:48eeb41188dd 55 MaxonESCON* motorControllerLeft,
chrigelburri 6:48eeb41188dd 56 MaxonESCON* motorControllerRight,
chrigelburri 11:775ebb69d5e1 57 PinName batteryPin,
chrigelburri 6:48eeb41188dd 58 float period);
chrigelburri 0:31f7be68e52d 59
chrigelburri 0:31f7be68e52d 60 /**
chrigelburri 11:775ebb69d5e1 61 * @brief Destructor of the Object to destroy the Object.
chrigelburri 12:235e318a414f 62 */
chrigelburri 0:31f7be68e52d 63 virtual ~State();
chrigelburri 6:48eeb41188dd 64
chrigelburri 0:31f7be68e52d 65 /**
chrigelburri 11:775ebb69d5e1 66 * @brief Initzialize the File. Open the File plots.txt and set the title at first line.
chrigelburri 0:31f7be68e52d 67 */
chrigelburri 0:31f7be68e52d 68 void initPlotFile(void);
chrigelburri 0:31f7be68e52d 69
chrigelburri 0:31f7be68e52d 70 /**
chrigelburri 11:775ebb69d5e1 71 * @brief Close the File.
chrigelburri 6:48eeb41188dd 72 */
chrigelburri 0:31f7be68e52d 73 void closePlotFile(void);
chrigelburri 0:31f7be68e52d 74
chrigelburri 0:31f7be68e52d 75 /**
chrigelburri 11:775ebb69d5e1 76 * @brief Return the Battery voltage
chrigelburri 0:31f7be68e52d 77 * state variables.
chrigelburri 0:31f7be68e52d 78 * @return Batterie Voltage [V]
chrigelburri 0:31f7be68e52d 79 */
chrigelburri 0:31f7be68e52d 80 float readBattery();
chrigelburri 0:31f7be68e52d 81
chrigelburri 6:48eeb41188dd 82 /**
chrigelburri 11:775ebb69d5e1 83 * @brief Starts the timer from zero.
chrigelburri 1:6cd533a712c6 84 * The timer is for the logging Time.
chrigelburri 1:6cd533a712c6 85 */
chrigelburri 0:31f7be68e52d 86 void startTimerFromZero();
chrigelburri 0:31f7be68e52d 87
chrigelburri 0:31f7be68e52d 88 /**
chrigelburri 11:775ebb69d5e1 89 * @brief Save the new state to a new line.
chrigelburri 6:48eeb41188dd 90 */
chrigelburri 0:31f7be68e52d 91 void savePlotFile(state_t s);
chrigelburri 24:08241be546ba 92
chrigelburri 24:08241be546ba 93 /**
chrigelburri 24:08241be546ba 94 * Returns the transform a sinusvalue from -1.0 .. 1.0 to 0.0 .. 1.0
chrigelburri 24:08241be546ba 95 * @param idx number of LEDS
chrigelburri 24:08241be546ba 96 * @param f value till 2π
chrigelburri 24:08241be546ba 97 * @return sinus value from 0.0f 1.0f
chrigelburri 24:08241be546ba 98 */
chrigelburri 24:08241be546ba 99 float dim( int idx, float f );
chrigelburri 0:31f7be68e52d 100
chrigelburri 11:775ebb69d5e1 101 /**
chrigelburri 12:235e318a414f 102 * @brief Run method actualize every period.
chrigelburri 12:235e318a414f 103 */
chrigelburri 0:31f7be68e52d 104 void run();
chrigelburri 0:31f7be68e52d 105
chrigelburri 0:31f7be68e52d 106 private:
chrigelburri 0:31f7be68e52d 107
chrigelburri 0:31f7be68e52d 108 void setBatteryBit();
chrigelburri 0:31f7be68e52d 109
chrigelburri 0:31f7be68e52d 110 void setEnableLeftBit();
chrigelburri 0:31f7be68e52d 111
chrigelburri 0:31f7be68e52d 112 void setEnableRightBit();
chrigelburri 0:31f7be68e52d 113 };
chrigelburri 0:31f7be68e52d 114
chrigelburri 0:31f7be68e52d 115 #endif