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
MicroBridge/androidADB.h@17:f0a973f17917, 2013-05-03 (annotated)
- Committer:
- chrigelburri
- Date:
- Fri May 03 06:30:46 2013 +0000
- Revision:
- 17:f0a973f17917
bastel mit adb
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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chrigelburri | 17:f0a973f17917 | 1 | //#ifndef _ANDROIDADB_H_ |
chrigelburri | 17:f0a973f17917 | 2 | //#define _ANDROIDADB_H_ |
chrigelburri | 17:f0a973f17917 | 3 | |
chrigelburri | 17:f0a973f17917 | 4 | //#include "mbed.h" |
chrigelburri | 17:f0a973f17917 | 5 | #include "Adb.h" |
chrigelburri | 17:f0a973f17917 | 6 | //#include "define.h" |
chrigelburri | 17:f0a973f17917 | 7 | |
chrigelburri | 17:f0a973f17917 | 8 | #include <string> |
chrigelburri | 17:f0a973f17917 | 9 | #include <sstream> |
chrigelburri | 17:f0a973f17917 | 10 | #include <vector> |
chrigelburri | 17:f0a973f17917 | 11 | #include <iostream> |
chrigelburri | 17:f0a973f17917 | 12 | #include <stdlib.h> |
chrigelburri | 17:f0a973f17917 | 13 | |
chrigelburri | 17:f0a973f17917 | 14 | Connection * connection; |
chrigelburri | 17:f0a973f17917 | 15 | |
chrigelburri | 17:f0a973f17917 | 16 | //Serial pc(USBTX, USBRX); |
chrigelburri | 17:f0a973f17917 | 17 | |
chrigelburri | 17:f0a973f17917 | 18 | |
chrigelburri | 17:f0a973f17917 | 19 | /** @brief Desired position in meters for x-coordinate, given by android */ |
chrigelburri | 17:f0a973f17917 | 20 | float androidx; |
chrigelburri | 17:f0a973f17917 | 21 | |
chrigelburri | 17:f0a973f17917 | 22 | /** @brief Desired position in meters for y-coordinate, given by android */ |
chrigelburri | 17:f0a973f17917 | 23 | float androidy; |
chrigelburri | 17:f0a973f17917 | 24 | |
chrigelburri | 17:f0a973f17917 | 25 | /** @brief Desired position in degrees for theta, given by android */ |
chrigelburri | 17:f0a973f17917 | 26 | float androidtheta; |
chrigelburri | 17:f0a973f17917 | 27 | |
chrigelburri | 17:f0a973f17917 | 28 | /** @brief Indicates if a ADB connection to a android phone is established */ |
chrigelburri | 17:f0a973f17917 | 29 | boolean androidConnected = false; |
chrigelburri | 17:f0a973f17917 | 30 | |
chrigelburri | 17:f0a973f17917 | 31 | /** |
chrigelburri | 17:f0a973f17917 | 32 | * @brief Takes an string, a vector of strings for the delimited tokens, and a with the |
chrigelburri | 17:f0a973f17917 | 33 | * @param str |
chrigelburri | 17:f0a973f17917 | 34 | * @param tokens |
chrigelburri | 17:f0a973f17917 | 35 | * @param delimiters |
chrigelburri | 17:f0a973f17917 | 36 | */ |
chrigelburri | 17:f0a973f17917 | 37 | void Tokenize(const string& str, |
chrigelburri | 17:f0a973f17917 | 38 | vector<string>& tokens, |
chrigelburri | 17:f0a973f17917 | 39 | const string& delimiters = " "); |
chrigelburri | 17:f0a973f17917 | 40 | |
chrigelburri | 17:f0a973f17917 | 41 | void parseMessage(uint16_t length, uint8_t * data); |
chrigelburri | 17:f0a973f17917 | 42 | |
chrigelburri | 17:f0a973f17917 | 43 | void connect(); |
chrigelburri | 17:f0a973f17917 | 44 | |
chrigelburri | 17:f0a973f17917 | 45 | void init(); |
chrigelburri | 17:f0a973f17917 | 46 | |
chrigelburri | 17:f0a973f17917 | 47 | //#endif |