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:
- 5:48a258f6335e
- Parent:
- 4:3a97923ff2d4
- Child:
- 6:48eeb41188dd
diff -r 3a97923ff2d4 -r 48a258f6335e main.cpp --- a/main.cpp Fri Mar 08 09:54:34 2013 +0000 +++ b/main.cpp Thu Mar 21 08:56:53 2013 +0000 @@ -100,37 +100,40 @@ state.startTimerFromZero(); state.start(); - robotControl.setPositionAngle(-1.20f, 1.50f, 3*PI/4); + robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); + wait(0.1); + + robotControl.setDesiredPositionAndAngle(-1.20f, 1.50f, 3*PI/4); while(!(robotControl.getDistanceError() <= 0.4)) { state.savePlotFile(s); }; - robotControl.setPositionAngle(-1.20f, 2.6f, PI/4); - while(!(robotControl.getDistanceError() <= 0.4)) { - state.savePlotFile(s); - }; - - robotControl.setPositionAngle(-0.45f, 3.4f, PI/2); + robotControl.setDesiredPositionAndAngle(-1.20f, 2.5f, PI/4); while(!(robotControl.getDistanceError() <= 0.4)) { state.savePlotFile(s); }; - robotControl.setPositionAngle(-1.0f, 3.6f, PI); + robotControl.setDesiredPositionAndAngle(-0.45f, 3.2f, 3*PI/4); while(!(robotControl.getDistanceError() <= 0.4)) { state.savePlotFile(s); }; - robotControl.setPositionAngle(-1.5f, 3.9f, PI); + robotControl.setDesiredPositionAndAngle(-1.0f, 3.6f, PI); + while(!(robotControl.getDistanceError() <= 0.2)) { + state.savePlotFile(s); + }; + + robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI); while(!(robotControl.getDistanceError() <= 0.03)) { state.savePlotFile(s); }; - - robotControl.setPositionAngle(-2.5f, 3.0f, -PI/2); + + robotControl.setDesiredPositionAndAngle(-2.5f, 3.0f, -PI/2); while(!(robotControl.getDistanceError() <= 0.4)) { state.savePlotFile(s); }; - - robotControl.setPositionAngle(-1.75f, 1.30f, -PI/2); + + robotControl.setDesiredPositionAndAngle(-1.75f, 1.30f, -PI/2); while(!(robotControl.getDistanceError() <= 0.04)) { state.savePlotFile(s); };