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

Diff: StateDefines/State.cpp

Revision:
5:48a258f6335e
Parent:
4:3a97923ff2d4
Child:
6:48eeb41188dd
diff -r 3a97923ff2d4 -r 48a258f6335e StateDefines/State.cpp
--- a/StateDefines/State.cpp	Fri Mar 08 09:54:34 2013 +0000
+++ b/StateDefines/State.cpp	Thu Mar 21 08:56:53 2013 +0000
@@ -43,17 +43,17 @@
                 "X-AxisError[m]\t"
                 "AngleError[grad]\t"
                 "AngleCar[grad]\t"
-                "SetpointX-Axis[m]\t"
+                "SetpointX-Axis[m]\t" //15
                 "SetpointY-Axis[m]\t"
-                "SetpointAngel[grad]\t"
+                "SetpointAngel[grad]\t" //17
                 "RightDistanceSensor[m]\t"
                 "CompassAngle[grad]\t"
                 "CompassX-Axis\t" //20
                 "CompassY-Axis\t"
                 "State\t"
                 "distanceToGoal[m]\t" //23
-                "angleToGoal[rad]\t"
-                "thetaFromTheGoal[rad]\n");
+                "angleToGoal[grad]\t"
+                "thetaFromTheGoal[grad]\n");
     }
 }
 
@@ -159,6 +159,9 @@
     s->xAxisError = robotControl->getxPositionError();
     s->yAxisError = robotControl->getyPositionError();
     s->angleError = robotControl->getThetaError() * 180 / PI;
+    s->setxAxis = robotControl->getDesiredxPosition();
+    s->setyAxis = robotControl->getDesiredyPosition();
+    s->setAngle = robotControl->getDesiredTheta() * 180 / PI;
     // s->compassAngle = compass->getFilteredAngle() * 180 / PI;
 
     s->rho = robotControl->getDistanceError();