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: StateDefines/State.cpp
- Revision:
- 6:48eeb41188dd
- Parent:
- 5:48a258f6335e
- Child:
- 8:696c2f9dfc62
diff -r 48a258f6335e -r 48eeb41188dd StateDefines/State.cpp --- a/StateDefines/State.cpp Thu Mar 21 08:56:53 2013 +0000 +++ b/StateDefines/State.cpp Sat Mar 23 13:52:48 2013 +0000 @@ -62,7 +62,8 @@ { char buf[256]; - sprintf(buf,"%d\t%f\t%d\t%d\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%d\t%f\t%f\t%f", + sprintf(buf,"%d\t%f\t%d\t%d\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t" + "%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%d\t%f\t%f\t%f", s.millis, s.voltageBattery, s.leftPulses, @@ -149,8 +150,10 @@ s->voltageBattery = readBattery(); s->leftPulses = - motorControllerLeft->getPulses(); s->rightPulses = motorControllerRight->getPulses(); - s->leftVelocity = motorControllerLeft->getActualSpeed() * 2.0f * WHEEL_RADIUS * PI; - s->rightVelocity = - motorControllerRight->getActualSpeed()* 2.0f * WHEEL_RADIUS * PI; + s->leftVelocity = motorControllerLeft->getActualSpeed() * + 2.0f * WHEEL_RADIUS_LEFT * PI; + s->rightVelocity = - motorControllerRight->getActualSpeed()* + 2.0f * WHEEL_RADIUS_RIGHT * PI; s->velocity = robotControl->getActualSpeed(); s->omega = robotControl->getActualOmega(); s->xAxis = robotControl->getxActualPosition(); @@ -171,5 +174,4 @@ setBatteryBit(); setEnableLeftBit(); setEnableRightBit(); - }