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: Actuators/MaxonESCON.cpp
- Revision:
- 8:696c2f9dfc62
- Parent:
- 6:48eeb41188dd
diff -r 34be8b3a979c -r 696c2f9dfc62 Actuators/MaxonESCON.cpp --- a/Actuators/MaxonESCON.cpp Tue Mar 26 08:29:43 2013 +0000 +++ b/Actuators/MaxonESCON.cpp Sat Mar 30 06:55:08 2013 +0000 @@ -36,17 +36,17 @@ { speed = speed / ESCON_SET_FACTOR * 60.0f; if(speed > 1 ) { - _pwm = 0.9f; + _pwm = 0.89f; } else if(speed < -1) { - _pwm = 0.1f; + _pwm = 0.11f; } else { - _pwm = 0.4f*speed + 0.5f; + _pwm = 0.4f*speed + (0.5f * (SET_SPEED_PATCH)); } } float MaxonESCON::getActualSpeed(void) { - return (_actualSpeed.read()* 2.0f - 1.0f) * ESCON_GET_FACTOR / 60.0f; + return (_actualSpeed.read()* 2.0f - 1.0f *(GET_SPEED_PATCH)) * ESCON_GET_FACTOR / 60.0f; } void MaxonESCON::period(float period)