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
Diff: main.cpp
- Revision:
- 20:01b233b0e606
- Parent:
- 19:b2f76b0fe4c8
- Child:
- 21:48248c5b8992
diff -r b2f76b0fe4c8 -r 01b233b0e606 main.cpp --- a/main.cpp Fri May 03 13:34:34 2013 +0000 +++ b/main.cpp Fri May 03 14:39:24 2013 +0000 @@ -241,29 +241,20 @@ pc.printf("connection isOpen\n"); - float flt = 0.0f; - float flt2 = 0.2f; - float flt3 = 1.2f; - while(1) { ADB::poll(); - - flt = flt - 0.1f; - flt2 = flt2 + 0.2f; - flt3 = flt3 - 0.05f; + + robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta()); - robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta()); - - writeActualPosition(robotControl.getxActualPosition(),robotControl.getyActualPosition(), robotControl.getActualTheta()); + //void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b) + writeActualPosition(robotControl.getxActualPosition(),robotControl.getyActualPosition(), robotControl.getActualTheta(), s.state&STATE_UNDER, s.state&STATE_LEFT, s.state&STATE_RIGHT, s.voltageBattery); //connection->write(sizeof(str),(unsigned char*)&str); wait(1); } - - state.savePlotFile(s); state.closePlotFile(); state.stop();