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: main.cpp
- Revision:
- 33:ac39982fd3b2
- Parent:
- 32:767044a3e421
- Child:
- 34:62996eed658a
diff -r 767044a3e421 -r ac39982fd3b2 main.cpp --- a/main.cpp Mon May 20 17:40:08 2013 +0000 +++ b/main.cpp Tue May 21 17:42:50 2013 +0000 @@ -113,9 +113,10 @@ { /** - * Check at first the Battery voltage. Starts when the voltage is greater than the min is. + * Check at first the Battery voltage. Starts when the voltage + * is greater than the min is. * start the timer for the Logging to the file - * and start the Task for logging + * and start the Task for logging. **/ state.start(); @@ -145,7 +146,7 @@ robotControl.start(); /** - * Clear all Errors of the ESCON Module, with a disabled to enable event + * Clear all Errors of the ESCON Module, with a disabled to enable event. */ robotControl.setEnable(false); wait(0.01); @@ -164,7 +165,7 @@ ADB::poll(); if (getDesiredTheta() > (2 * PI)) { /** - * Runs at first till the Startbutton has pressed + * Runs at first till the Startbutton has pressed. */ state.startTimerFromZero(); robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); @@ -191,7 +192,7 @@ /** * Sets the acutal value for a fast stop. - * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm + * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm. */ robotControl.setDesiredPositionAndAngle(robotControl.getxActualPosition(), robotControl.getyActualPosition(), @@ -202,7 +203,7 @@ rightMotor.setVelocity(0.0f); /** - * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm + * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm. */ state.savePlotFile(s); state.closePlotFile(); @@ -211,7 +212,7 @@ robotControl.stop(); /** - * Fast PWM sample for the end + * Fast PWM sample for the end. */ while(1) { for (float f = 0.1f; f < 6.3f; f += 0.1f) {