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@19:b2f76b0fe4c8, 2013-05-03 (annotated)
- Committer:
- chrigelburri
- Date:
- Fri May 03 13:34:34 2013 +0000
- Revision:
- 19:b2f76b0fe4c8
- Parent:
- 18:306d362d692b
- Child:
- 20:01b233b0e606
asdf
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 | 15:cb1337567ad4 | 26 | * The connection to an android smartphone is realise with the library AndroidAccessory from Rich Bayliss. |
chrigelburri | 15:cb1337567ad4 | 27 | * For more information see here: <a href="https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/">https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/</a> |
chrigelburri | 13:a7c30ee09bae | 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 | 16:b5d949136a21 | 41 | //#include "android.h" |
chrigelburri | 11:775ebb69d5e1 | 42 | |
chrigelburri | 11:775ebb69d5e1 | 43 | /** |
chrigelburri | 11:775ebb69d5e1 | 44 | * @name Hallsensor |
chrigelburri | 11:775ebb69d5e1 | 45 | * @{ |
chrigelburri | 11:775ebb69d5e1 | 46 | */ |
chrigelburri | 12:235e318a414f | 47 | |
chrigelburri | 12:235e318a414f | 48 | /** |
chrigelburri | 12:235e318a414f | 49 | * @brief <code>hallsensorLeft</code> object with pin15, pin17 and pin16 |
chrigelburri | 12:235e318a414f | 50 | */ |
chrigelburri | 11:775ebb69d5e1 | 51 | Hallsensor hallLeft(p18, p17, p16); |
chrigelburri | 12:235e318a414f | 52 | |
chrigelburri | 11:775ebb69d5e1 | 53 | /** |
chrigelburri | 11:775ebb69d5e1 | 54 | * @brief <code>hallsensorLeft</code> object with pin17, pin28 and pin29 |
chrigelburri | 11:775ebb69d5e1 | 55 | */ |
chrigelburri | 11:775ebb69d5e1 | 56 | Hallsensor hallRight(p27, p28, p29); |
chrigelburri | 11:775ebb69d5e1 | 57 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 58 | |
chrigelburri | 10:09ddb819fdcb | 59 | /** |
chrigelburri | 11:775ebb69d5e1 | 60 | * @name Motors and Robot Control |
chrigelburri | 12:235e318a414f | 61 | * @{ |
chrigelburri | 10:09ddb819fdcb | 62 | */ |
chrigelburri | 12:235e318a414f | 63 | |
chrigelburri | 12:235e318a414f | 64 | /** |
chrigelburri | 12:235e318a414f | 65 | * @brief <code>leftMotor</code> object with pin26, pin25, pin24, |
chrigelburri | 12:235e318a414f | 66 | * pin19 and <code>hallsensorLeft</code> object |
chrigelburri | 12:235e318a414f | 67 | */ |
chrigelburri | 1:6cd533a712c6 | 68 | MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft); |
chrigelburri | 12:235e318a414f | 69 | |
chrigelburri | 11:775ebb69d5e1 | 70 | /** |
chrigelburri | 12:235e318a414f | 71 | * @brief <code>rightMotor</code> object with pin23, pin22, pin21, |
chrigelburri | 12:235e318a414f | 72 | * pin20 and <code>hallsensorRight</code> object |
chrigelburri | 11:775ebb69d5e1 | 73 | */ |
chrigelburri | 1:6cd533a712c6 | 74 | MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight); |
chrigelburri | 1:6cd533a712c6 | 75 | |
chrigelburri | 11:775ebb69d5e1 | 76 | /** |
chrigelburri | 12:235e318a414f | 77 | * @brief <code>robotControl</code> object with <code>leftMotor</code>, |
chrigelburri | 12:235e318a414f | 78 | * <code>rightMotor</code> and the sampling rate for the run method |
chrigelburri | 11:775ebb69d5e1 | 79 | */ |
chrigelburri | 11:775ebb69d5e1 | 80 | RobotControl robotControl(&leftMotor, &rightMotor, PERIOD_ROBOTCONTROL); |
chrigelburri | 11:775ebb69d5e1 | 81 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 82 | |
chrigelburri | 11:775ebb69d5e1 | 83 | /** |
chrigelburri | 11:775ebb69d5e1 | 84 | * @name Logging & State |
chrigelburri | 11:775ebb69d5e1 | 85 | * @{ |
chrigelburri | 11:775ebb69d5e1 | 86 | */ |
chrigelburri | 12:235e318a414f | 87 | |
chrigelburri | 12:235e318a414f | 88 | /** |
chrigelburri | 12:235e318a414f | 89 | * @brief Define the struct for the State and the Logging |
chrigelburri | 12:235e318a414f | 90 | */ |
chrigelburri | 11:775ebb69d5e1 | 91 | state_t s; |
chrigelburri | 12:235e318a414f | 92 | |
chrigelburri | 11:775ebb69d5e1 | 93 | /** |
chrigelburri | 12:235e318a414f | 94 | * @brief <code>state</code> object with <code>robotControl</code>, |
chrigelburri | 12:235e318a414f | 95 | * <code>rightMotor</code>, <code>leftMotor</code>, <code>battery</code> |
chrigelburri | 12:235e318a414f | 96 | * and the sampling rate for the run method |
chrigelburri | 11:775ebb69d5e1 | 97 | */ |
chrigelburri | 11:775ebb69d5e1 | 98 | State state(&s, &robotControl, &leftMotor, &rightMotor, p15, PERIOD_STATE); |
chrigelburri | 11:775ebb69d5e1 | 99 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 100 | |
chrigelburri | 14:6a45a9f940a8 | 101 | /** |
chrigelburri | 14:6a45a9f940a8 | 102 | * @name Communication |
chrigelburri | 14:6a45a9f940a8 | 103 | * @{ |
chrigelburri | 14:6a45a9f940a8 | 104 | */ |
chrigelburri | 14:6a45a9f940a8 | 105 | |
chrigelburri | 14:6a45a9f940a8 | 106 | /** |
chrigelburri | 14:6a45a9f940a8 | 107 | * @brief <code>adkTerm</code> object is for the communication with a smartphone. |
chrigelburri | 14:6a45a9f940a8 | 108 | * The operation system must be a android. |
chrigelburri | 14:6a45a9f940a8 | 109 | */ |
chrigelburri | 16:b5d949136a21 | 110 | //AdkTerm adkTerm(&robotControl, &s, PERIOD_ANDROID); |
chrigelburri | 14:6a45a9f940a8 | 111 | /*! @} */ |
chrigelburri | 14:6a45a9f940a8 | 112 | |
chrigelburri | 14:6a45a9f940a8 | 113 | |
chrigelburri | 12:235e318a414f | 114 | // @todo PC USB communications DAs wird danach gelöscht |
chrigelburri | 18:306d362d692b | 115 | Serial pc(USBTX, USBRX); |
chrigelburri | 1:6cd533a712c6 | 116 | |
chrigelburri | 12:235e318a414f | 117 | /** |
chrigelburri | 12:235e318a414f | 118 | * @brief Main function. Start the Programm here. |
chrigelburri | 12:235e318a414f | 119 | */ |
chrigelburri | 1:6cd533a712c6 | 120 | int main() |
chrigelburri | 1:6cd533a712c6 | 121 | { |
chrigelburri | 12:235e318a414f | 122 | |
chrigelburri | 12:235e318a414f | 123 | /** |
chrigelburri | 12:235e318a414f | 124 | * Initialze the filt PLOTS.txt, |
chrigelburri | 12:235e318a414f | 125 | * start the timer for the Logging to the file |
chrigelburri | 12:235e318a414f | 126 | * and start the Task for logging |
chrigelburri | 12:235e318a414f | 127 | **/ |
chrigelburri | 16:b5d949136a21 | 128 | state.initPlotFile(); |
chrigelburri | 12:235e318a414f | 129 | state.startTimerFromZero(); |
chrigelburri | 12:235e318a414f | 130 | state.start(); |
chrigelburri | 12:235e318a414f | 131 | |
chrigelburri | 12:235e318a414f | 132 | /** |
chrigelburri | 12:235e318a414f | 133 | * Clear all Errors of the ESCON Module, with a disabled to enable event |
chrigelburri | 12:235e318a414f | 134 | */ |
chrigelburri | 1:6cd533a712c6 | 135 | robotControl.setEnable(false); |
chrigelburri | 16:b5d949136a21 | 136 | wait(0.01); |
chrigelburri | 1:6cd533a712c6 | 137 | robotControl.setEnable(true); |
chrigelburri | 6:48eeb41188dd | 138 | wait(0.1); |
chrigelburri | 12:235e318a414f | 139 | |
chrigelburri | 12:235e318a414f | 140 | /** |
chrigelburri | 12:235e318a414f | 141 | * Set the startposition and start the Task for controlling the roboter. |
chrigelburri | 12:235e318a414f | 142 | */ |
chrigelburri | 19:b2f76b0fe4c8 | 143 | robotControl.setAllToZero(0, 0, PI/2 ); |
chrigelburri | 19:b2f76b0fe4c8 | 144 | //robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); |
chrigelburri | 8:696c2f9dfc62 | 145 | robotControl.start(); |
chrigelburri | 16:b5d949136a21 | 146 | /* |
chrigelburri | 14:6a45a9f940a8 | 147 | pc.baud(460800); |
chrigelburri | 14:6a45a9f940a8 | 148 | pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r"); |
chrigelburri | 14:6a45a9f940a8 | 149 | pc.printf("here we go... \n"); |
chrigelburri | 14:6a45a9f940a8 | 150 | adkTerm.setupDevice(); |
chrigelburri | 14:6a45a9f940a8 | 151 | pc.printf("Android Development Kit: start\r\n"); |
chrigelburri | 14:6a45a9f940a8 | 152 | USBInit(); |
chrigelburri | 14:6a45a9f940a8 | 153 | |
chrigelburri | 15:cb1337567ad4 | 154 | //wait(3); |
chrigelburri | 15:cb1337567ad4 | 155 | |
chrigelburri | 14:6a45a9f940a8 | 156 | adkTerm.start(); |
chrigelburri | 8:696c2f9dfc62 | 157 | |
chrigelburri | 16:b5d949136a21 | 158 | */ |
chrigelburri | 6:48eeb41188dd | 159 | |
chrigelburri | 6:48eeb41188dd | 160 | // Epä Parkour fahrä |
chrigelburri | 18:306d362d692b | 161 | /* |
chrigelburri | 11:775ebb69d5e1 | 162 | robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 11:775ebb69d5e1 | 163 | wait(0.1); |
chrigelburri | 6:48eeb41188dd | 164 | |
chrigelburri | 11:775ebb69d5e1 | 165 | robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f, 3*PI/4); |
chrigelburri | 11:775ebb69d5e1 | 166 | while(!(robotControl.getDistanceError() <= 0.9)) { |
chrigelburri | 11:775ebb69d5e1 | 167 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 168 | }; |
chrigelburri | 6:48eeb41188dd | 169 | |
chrigelburri | 11:775ebb69d5e1 | 170 | robotControl.setDesiredPositionAndAngle(-1.20f, 2.1f, PI/4); |
chrigelburri | 11:775ebb69d5e1 | 171 | while(!(robotControl.getDistanceError() <= 0.7)) { |
chrigelburri | 11:775ebb69d5e1 | 172 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 173 | }; |
chrigelburri | 5:48a258f6335e | 174 | |
chrigelburri | 16:b5d949136a21 | 175 | robotControl.setDesiredPositionAndAngle(-0.5f, 3.0f, PI/2); //0.75 |
chrigelburri | 11:775ebb69d5e1 | 176 | while(!(robotControl.getDistanceError() <= 0.7)) { |
chrigelburri | 11:775ebb69d5e1 | 177 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 178 | }; |
chrigelburri | 6:48eeb41188dd | 179 | |
chrigelburri | 11:775ebb69d5e1 | 180 | robotControl.setDesiredPositionAndAngle(-1.0f, 3.75f, 3*PI/4); |
chrigelburri | 11:775ebb69d5e1 | 181 | while(!(robotControl.getDistanceError() <= 0.55)) { |
chrigelburri | 11:775ebb69d5e1 | 182 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 183 | }; |
chrigelburri | 8:696c2f9dfc62 | 184 | |
chrigelburri | 4:3a97923ff2d4 | 185 | |
chrigelburri | 11:775ebb69d5e1 | 186 | robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI); |
chrigelburri | 11:775ebb69d5e1 | 187 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 11:775ebb69d5e1 | 188 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 189 | }; |
chrigelburri | 11:775ebb69d5e1 | 190 | |
chrigelburri | 11:775ebb69d5e1 | 191 | robotControl.setDesiredPositionAndAngle(-2.6f, 3.0f, -PI/2); |
chrigelburri | 11:775ebb69d5e1 | 192 | while(!(robotControl.getDistanceError() <= 1.0)) { |
chrigelburri | 11:775ebb69d5e1 | 193 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 194 | }; |
chrigelburri | 15:cb1337567ad4 | 195 | |
chrigelburri | 15:cb1337567ad4 | 196 | robotControl.setDesiredPositionAndAngle(-2.0f, 2.0f, -PI/2); |
chrigelburri | 15:cb1337567ad4 | 197 | while(!(robotControl.getDistanceError() <= 1.0)) { |
chrigelburri | 15:cb1337567ad4 | 198 | state.savePlotFile(s); |
chrigelburri | 15:cb1337567ad4 | 199 | }; |
chrigelburri | 11:775ebb69d5e1 | 200 | |
chrigelburri | 15:cb1337567ad4 | 201 | robotControl.setDesiredPositionAndAngle(-2.65f, 1.30f, -PI/2); |
chrigelburri | 16:b5d949136a21 | 202 | while(!(robotControl.getDistanceError() <= 0.4)) { |
chrigelburri | 11:775ebb69d5e1 | 203 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 204 | }; |
chrigelburri | 15:cb1337567ad4 | 205 | robotControl.setDesiredPositionAndAngle(-2.65f, 0.80f, -PI/2); |
chrigelburri | 11:775ebb69d5e1 | 206 | while(!(s.millis >= 32000)) { |
chrigelburri | 11:775ebb69d5e1 | 207 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 208 | } |
chrigelburri | 18:306d362d692b | 209 | */ |
chrigelburri | 16:b5d949136a21 | 210 | |
chrigelburri | 16:b5d949136a21 | 211 | /* |
chrigelburri | 12:235e318a414f | 212 | while (1) { |
chrigelburri | 12:235e318a414f | 213 | USBLoop(); |
chrigelburri | 15:cb1337567ad4 | 214 | |
chrigelburri | 15:cb1337567ad4 | 215 | robotControl.setDesiredPositionAndAngle(adkTerm.getDesiredX(), adkTerm.getDesiredY(), adkTerm.getDesiredTheta()); |
chrigelburri | 15:cb1337567ad4 | 216 | |
chrigelburri | 15:cb1337567ad4 | 217 | //pc.printf("."); |
chrigelburri | 12:235e318a414f | 218 | |
chrigelburri | 15:cb1337567ad4 | 219 | /*pc.printf("From Android x: %f y: %f t: %f",adkTerm.getDesiredX(), adkTerm.getDesiredY(),adkTerm.getDesiredTheta()); |
chrigelburri | 15:cb1337567ad4 | 220 | |
chrigelburri | 14:6a45a9f940a8 | 221 | |
chrigelburri | 14:6a45a9f940a8 | 222 | pc.printf( "To Android: x: %f y: %f t: %f; \n \n", robotControl.getxActualPosition(), |
chrigelburri | 14:6a45a9f940a8 | 223 | robotControl.getyActualPosition(), |
chrigelburri | 16:b5d949136a21 | 224 | robotControl.getActualTheta()); |
chrigelburri | 16:b5d949136a21 | 225 | }*/ |
chrigelburri | 8:696c2f9dfc62 | 226 | |
chrigelburri | 8:696c2f9dfc62 | 227 | |
chrigelburri | 8:696c2f9dfc62 | 228 | |
chrigelburri | 12:235e318a414f | 229 | /** |
chrigelburri | 12:235e318a414f | 230 | * Close the File PLOTS.txt to read the file after with the computer and draw a diagramm |
chrigelburri | 12:235e318a414f | 231 | */ |
chrigelburri | 19:b2f76b0fe4c8 | 232 | |
chrigelburri | 19:b2f76b0fe4c8 | 233 | |
chrigelburri | 19:b2f76b0fe4c8 | 234 | pc.baud(460800); |
chrigelburri | 18:306d362d692b | 235 | |
chrigelburri | 19:b2f76b0fe4c8 | 236 | pc.printf("********************* MicroBridge 4568 ********************************\n\r"); |
chrigelburri | 19:b2f76b0fe4c8 | 237 | |
chrigelburri | 19:b2f76b0fe4c8 | 238 | init(); |
chrigelburri | 19:b2f76b0fe4c8 | 239 | |
chrigelburri | 19:b2f76b0fe4c8 | 240 | // Initialise the ADB subsystem. |
chrigelburri | 19:b2f76b0fe4c8 | 241 | |
chrigelburri | 19:b2f76b0fe4c8 | 242 | pc.printf("connection isOpen\n"); |
chrigelburri | 19:b2f76b0fe4c8 | 243 | |
chrigelburri | 19:b2f76b0fe4c8 | 244 | float flt = 0.0f; |
chrigelburri | 19:b2f76b0fe4c8 | 245 | float flt2 = 0.2f; |
chrigelburri | 19:b2f76b0fe4c8 | 246 | float flt3 = 1.2f; |
chrigelburri | 19:b2f76b0fe4c8 | 247 | |
chrigelburri | 19:b2f76b0fe4c8 | 248 | while(1) { |
chrigelburri | 19:b2f76b0fe4c8 | 249 | |
chrigelburri | 19:b2f76b0fe4c8 | 250 | ADB::poll(); |
chrigelburri | 19:b2f76b0fe4c8 | 251 | |
chrigelburri | 19:b2f76b0fe4c8 | 252 | flt = flt - 0.1f; |
chrigelburri | 19:b2f76b0fe4c8 | 253 | flt2 = flt2 + 0.2f; |
chrigelburri | 19:b2f76b0fe4c8 | 254 | flt3 = flt3 - 0.05f; |
chrigelburri | 19:b2f76b0fe4c8 | 255 | |
chrigelburri | 19:b2f76b0fe4c8 | 256 | robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta()); |
chrigelburri | 19:b2f76b0fe4c8 | 257 | |
chrigelburri | 19:b2f76b0fe4c8 | 258 | writeActualPosition(robotControl.getxActualPosition(),robotControl.getyActualPosition(), robotControl.getActualTheta()); |
chrigelburri | 19:b2f76b0fe4c8 | 259 | |
chrigelburri | 19:b2f76b0fe4c8 | 260 | //connection->write(sizeof(str),(unsigned char*)&str); |
chrigelburri | 19:b2f76b0fe4c8 | 261 | wait(1); |
chrigelburri | 19:b2f76b0fe4c8 | 262 | |
chrigelburri | 19:b2f76b0fe4c8 | 263 | } |
chrigelburri | 19:b2f76b0fe4c8 | 264 | |
chrigelburri | 18:306d362d692b | 265 | |
chrigelburri | 18:306d362d692b | 266 | |
chrigelburri | 10:09ddb819fdcb | 267 | state.savePlotFile(s); |
chrigelburri | 10:09ddb819fdcb | 268 | state.closePlotFile(); |
chrigelburri | 10:09ddb819fdcb | 269 | state.stop(); |
chrigelburri | 10:09ddb819fdcb | 270 | robotControl.setEnable(false); |
chrigelburri | 15:cb1337567ad4 | 271 | |
chrigelburri | 10:09ddb819fdcb | 272 | } |