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: main.cpp
- Revision:
- 19:b2f76b0fe4c8
- Parent:
- 18:306d362d692b
- Child:
- 20:01b233b0e606
diff -r 306d362d692b -r b2f76b0fe4c8 main.cpp --- a/main.cpp Fri May 03 08:35:29 2013 +0000 +++ b/main.cpp Fri May 03 13:34:34 2013 +0000 @@ -140,8 +140,8 @@ /** * Set the startposition and start the Task for controlling the roboter. */ - //robotControl.setAllToZero(0, 0, PI/2 ); - robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); + robotControl.setAllToZero(0, 0, PI/2 ); + //robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); robotControl.start(); /* pc.baud(460800); @@ -229,7 +229,39 @@ /** * Close the File PLOTS.txt to read the file after with the computer and draw a diagramm */ + + + pc.baud(460800); + pc.printf("********************* MicroBridge 4568 ********************************\n\r"); + + init(); + + // Initialise the ADB subsystem. + + pc.printf("connection isOpen\n"); + + float flt = 0.0f; + float flt2 = 0.2f; + float flt3 = 1.2f; + + while(1) { + + ADB::poll(); + + flt = flt - 0.1f; + flt2 = flt2 + 0.2f; + flt3 = flt3 - 0.05f; + + robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta()); + + writeActualPosition(robotControl.getxActualPosition(),robotControl.getyActualPosition(), robotControl.getActualTheta()); + + //connection->write(sizeof(str),(unsigned char*)&str); + wait(1); + + } + state.savePlotFile(s);