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
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Diff: main.cpp
- Revision:
- 7:34be8b3a979c
- Parent:
- 6:48eeb41188dd
- Child:
- 8:696c2f9dfc62
diff -r 48eeb41188dd -r 34be8b3a979c main.cpp --- a/main.cpp Sat Mar 23 13:52:48 2013 +0000 +++ b/main.cpp Tue Mar 26 08:29:43 2013 +0000 @@ -108,10 +108,10 @@ // robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); // robotControl.setDesiredPositionAndAngle(0, 0, PI/2); - wait(0.1); + // wait(0.1); ////////////////////////////////////////// - + /* robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI); while(!(robotControl.getDistanceError() <= 0.1)) { state.savePlotFile(s); @@ -126,13 +126,31 @@ while(!(robotControl.getDistanceError() <= 0.1)) { state.savePlotFile(s); }; + + robotControl.setDesiredPositionAndAngle(0.0f, -0.8f, PI/2); + while(!(robotControl.getDistanceError() <= 0.05)) { + state.savePlotFile(s); + }; + + robotControl.setDesiredPositionAndAngle(0.0f, -0.2f, PI/2); + while(!(robotControl.getDistanceError() <= 0.05)) { + state.savePlotFile(s); + }; robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2); - while(!(s.millis >= 55000)) { + while(!(s.millis >= 65000)) { state.savePlotFile(s); }; + */ + ///////////////////////stay + robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2); + while(!(s.millis >= 65000)) { + state.savePlotFile(s); + }; + + //////////////////////////stay @@ -147,28 +165,37 @@ - //Zum Umfang einstellen - /* - robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI/2); - while(!(s.millis >= 20000)) { + //Zum Umfang einstellen 2m fahren + + robotControl.setDesiredPositionAndAngle(0.0f, 2.0f, PI/2); + while(!(s.millis >= 30000)) { state.savePlotFile(s); }; -*/ + ///////////////oder////////////////// // Zum radabstand einstellen - + /* - int sek = 1000; - int step = 1000; + robotControl.setDesiredPositionAndAngle(-0.94f, 0.68f, PI); + while(!(s.millis >= 30000)) { + state.savePlotFile(s); + } + /* + + /* + int sek = 0; + int step = 5000; int i = 0; - int totalTurns = 5; + int totalTurns = 2; - while(i >= totalTurns) { + sek += step; + + while(i <= totalTurns) { robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, PI); while(!(s.millis >= sek)) { state.savePlotFile(s); @@ -195,6 +222,8 @@ i++; } + + */