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: StateDefines/State.h
- Revision:
- 6:48eeb41188dd
- Parent:
- 3:92ba0254af87
- Child:
- 11:775ebb69d5e1
diff -r 48a258f6335e -r 48eeb41188dd StateDefines/State.h --- a/StateDefines/State.h Thu Mar 21 08:56:53 2013 +0000 +++ b/StateDefines/State.h Sat Mar 23 13:52:48 2013 +0000 @@ -22,7 +22,7 @@ * * State is the main mechanism for communicating current realtime system state to * the rest of the system for logging etc. - * + * */ class State : public Task @@ -34,12 +34,11 @@ RobotControl* robotControl; MaxonESCON* motorControllerLeft; MaxonESCON* motorControllerRight; - // HMC6352* compass; + // HMC6352* compass; AnalogIn* battery; Timer timer; float period; - - float magout[3]; + //float magout[3]; public: @@ -53,28 +52,34 @@ * @param battery Analog Input Battery Voltage input * @param period the sampling period of the run loop of this controller, given in [s] */ - State(state_t* s, RobotControl* robotControl, MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, /*HMC6352* compass,*/ AnalogIn* battery, float period); + State(state_t* s, + RobotControl* robotControl, + MaxonESCON* motorControllerLeft, + MaxonESCON* motorControllerRight, + /*HMC6352* compass,*/ + AnalogIn* battery, + float period); /** - * Destructor of the Object to destroy the Object. - **/ + * Destructor of the Object to destroy the Object. + **/ virtual ~State(); - + /** * Initzialize the File. Open the File plots.txt and set the title at first line. */ void initPlotFile(void); /** - * Save the char to the file. - * For example at the end. - * Don't forget the \n at first. - */ + * Save the char to the file. + * For example at the end. + * Don't forget the \n at first. + */ void savePlotText(char text[]); /** - * Close the File. - */ + * Close the File. + */ void closePlotFile(void); /** @@ -84,15 +89,15 @@ */ float readBattery(); - /** + /** * Starts the timer from zero. * The timer is for the logging Time. */ void startTimerFromZero(); /** - * Save the new state to a new line. - */ + * Save the new state to a new line. + */ void savePlotFile(state_t s); void run();