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:
- 1:6cd533a712c6
- Parent:
- 0:31f7be68e52d
- Child:
- 2:d8e1613dc38b
diff -r 31f7be68e52d -r 6cd533a712c6 StateDefines/State.cpp --- a/StateDefines/State.cpp Thu Feb 07 17:43:19 2013 +0000 +++ b/StateDefines/State.cpp Sat Mar 02 09:39:34 2013 +0000 @@ -8,14 +8,14 @@ // LocalFileSystem LocalFileSystem local("local"); -State::State(state_t* s, RobotControl* robotControl, MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, HMC6352* compass, AnalogIn* battery, float period) : Task(period) +State::State(state_t* s, RobotControl* robotControl, MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, /*HMC6352* compass,*/ AnalogIn* battery, float period) : Task(period) { /* get peripherals */ this->s = s; this->robotControl = robotControl; this->motorControllerLeft = motorControllerLeft; this->motorControllerRight = motorControllerRight; - this->compass = compass; + // this->compass = compass; this->battery =battery; this->period = period; @@ -159,7 +159,7 @@ s->xAxisError = robotControl->getxPositionError(); s->yAxisError = robotControl->getyPositionError(); s->angleError = robotControl->getThetaError() * 180 / PI; - s->compassAngle = compass->getFilteredAngle() * 180 / PI; + // s->compassAngle = compass->getFilteredAngle() * 180 / PI; setBatteryBit();