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: main.cpp

Revision:
6:48eeb41188dd
Parent:
5:48a258f6335e
Child:
7:34be8b3a979c
diff -r 48a258f6335e -r 48eeb41188dd main.cpp
--- a/main.cpp	Thu Mar 21 08:56:53 2013 +0000
+++ b/main.cpp	Sat Mar 23 13:52:48 2013 +0000
@@ -1,4 +1,6 @@
 /**
+ * \mainpage Index Page
+ * 
  * @file main.cpp
  * @author Christian Burri
  *
@@ -34,6 +36,10 @@
 #include "RobotControl.h"
 #include "Ping.h"
 #include "PowerControl/EthernetPowerControl.h"
+//#include "android.h"
+
+//Android
+//AdkTerm AdkTerm;
 
 // LiPo Batterie
 AnalogIn battery(p15);           // Battery check
@@ -66,7 +72,6 @@
 
 DigitalOut myled(LED1);
 
-//float magout[3] = {0};
 
 // LiPo Batterie
 float batterie_voltage;
@@ -89,10 +94,11 @@
 
     robotControl.start();
     robotControl.setEnable(false);
-    wait(0.01);
+    wait(0.1);
     robotControl.setEnable(true);
-    wait(0.01);
-    robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
+    wait(0.1);
+    robotControl.setAllToZero(0, 0, PI/2 );
+  //  robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
 
     leftMotor.setPulses(0);
     rightMotor.setPulses(0);
@@ -100,44 +106,163 @@
     state.startTimerFromZero();
     state.start();
 
-    robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+   // robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+  //  robotControl.setDesiredPositionAndAngle(0, 0, PI/2);
     wait(0.1);
+    
+    //////////////////////////////////////////
+    
+            robotControl.setDesiredPositionAndAngle(0.0f, 1.0f,  PI);
+        while(!(robotControl.getDistanceError() <= 0.1)) {
+            state.savePlotFile(s);
+        };
 
-    robotControl.setDesiredPositionAndAngle(-1.20f, 1.50f,  3*PI/4);
-    while(!(robotControl.getDistanceError() <= 0.4)) {
-        state.savePlotFile(s);
-    };
+        robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f,  -PI/2);
+        while(!(robotControl.getDistanceError() <= 0.1)) {
+            state.savePlotFile(s);
+        };
+
+        robotControl.setDesiredPositionAndAngle(-1.0f, 0.0f,  0);
+        while(!(robotControl.getDistanceError() <= 0.1)) {
+            state.savePlotFile(s);
+        };
 
-    robotControl.setDesiredPositionAndAngle(-1.20f, 2.5f,  PI/4);
-    while(!(robotControl.getDistanceError() <= 0.4)) {
-        state.savePlotFile(s);
-    };
+        robotControl.setDesiredPositionAndAngle(0.0, 0.0f,  PI/2);
+        while(!(s.millis >= 55000)) {
+            state.savePlotFile(s);
+        };
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    ////////////////////////////////////////////////////////////////////////
+    
+    
 
-    robotControl.setDesiredPositionAndAngle(-0.45f, 3.2f,  3*PI/4);
-    while(!(robotControl.getDistanceError() <= 0.4)) {
+    //Zum Umfang einstellen
+    /*
+    robotControl.setDesiredPositionAndAngle(0.0f, 1.0f,  PI/2);
+    while(!(s.millis >= 20000)) {
         state.savePlotFile(s);
     };
+    
 
-    robotControl.setDesiredPositionAndAngle(-1.0f, 3.6f,  PI);
-    while(!(robotControl.getDistanceError() <= 0.2)) {
-        state.savePlotFile(s);
-    };
+*/
+
+    ///////////////oder//////////////////
+
+
+    // Zum radabstand einstellen
+      
+    /*
+    int sek = 1000;
+    int step = 1000;
+    int i = 0;
+    int totalTurns = 5;
+
+    while(i >= totalTurns) {
+        robotControl.setDesiredPositionAndAngle(0.0f, 0.0f,  PI);
+        while(!(s.millis >= sek)) {
+            state.savePlotFile(s);
+        };
+        sek += step;
+
+        robotControl.setDesiredPositionAndAngle(0.0f, 0.0f,  -PI/2);
+        while(!(s.millis >= sek)) {
+            state.savePlotFile(s);
+        };
+        sek += step;
 
-    robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f,  PI);
-    while(!(robotControl.getDistanceError() <= 0.03)) {
-        state.savePlotFile(s);
-    };
+        robotControl.setDesiredPositionAndAngle(0.0f, 0.0f,  0);
+        while(!(s.millis >= sek)) {
+            state.savePlotFile(s);
+        };
+        sek += step;
+
+        robotControl.setDesiredPositionAndAngle(0.0f, 0.0f,  PI/2);
+        while(!(s.millis >= sek)) {
+            state.savePlotFile(s);
+        };
+        sek += step;
+
+        i++;
+    }
+*/
+
+
+////////////////////////////////////////////////////////
+
+
+
+    //  Epä Parkour fahrä
+/*
+        robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+        wait(0.1);
 
-    robotControl.setDesiredPositionAndAngle(-2.5f, 3.0f,  -PI/2);
-    while(!(robotControl.getDistanceError() <= 0.4)) {
-        state.savePlotFile(s);
-    };
+        robotControl.setDesiredPositionAndAngle(-1.20f, 1.50f,  3*PI/4);
+        while(!(robotControl.getDistanceError() <= 0.4)) {
+            state.savePlotFile(s);
+        };
+
+        robotControl.setDesiredPositionAndAngle(-1.20f, 2.5f,  PI/4);
+        while(!(robotControl.getDistanceError() <= 0.4)) {
+            state.savePlotFile(s);
+        };
+
+        robotControl.setDesiredPositionAndAngle(-0.45f, 3.2f,  3*PI/4);
+        while(!(robotControl.getDistanceError() <= 0.4)) {
+            state.savePlotFile(s);
+        };
+
+        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() <= 0.1)) {
+            state.savePlotFile(s);
+        };
 
-    robotControl.setDesiredPositionAndAngle(-1.75f, 1.30f,  -PI/2);
-    while(!(robotControl.getDistanceError() <= 0.04)) {
-        state.savePlotFile(s);
-    };
+        robotControl.setDesiredPositionAndAngle(-2.5f, 3.0f,  -PI/2);
+        while(!(robotControl.getDistanceError() <= 0.4)) {
+            state.savePlotFile(s);
+        };
+
+        robotControl.setDesiredPositionAndAngle(-1.75f, 1.30f,  -PI/2);
+        while(!(robotControl.getDistanceError() <= 0.06)) {
+            state.savePlotFile(s);
+        };
+        
 
+    */
+    
+    
+    
+    
+    /*
+        printf("here we go... \n");
+        AdkTerm.setupDevice();
+        printf("Android Development Kit: start\r\n");
+        USBInit();
+        while (!(s.millis >= 60000)) {
+            USBLoop();
+
+            printf("x: %f y: %f theta: %f", AdkTerm.getx(), AdkTerm.getx(), AdkTerm.getx() )
+
+            if( AdkTerm.getx() == 99) {
+                break;
+            }
+        }
+    */
 
     state.savePlotFile(s);
     state.closePlotFile();