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:
- 30:c32fc6174efe
- Parent:
- 29:937c74ff040e
- Child:
- 32:767044a3e421
diff -r 937c74ff040e -r c32fc6174efe main.cpp --- a/main.cpp Mon May 20 12:44:49 2013 +0000 +++ b/main.cpp Mon May 20 13:31:29 2013 +0000 @@ -167,7 +167,7 @@ pc.printf("connection isOpen\n"); while(getDesiredTheta() < (4 * PI)) { - ADB::poll(); + ADB::poll(); if (getDesiredTheta() > (2 * PI)) { /** * Runs at first till the Startbutton has pressed @@ -176,11 +176,12 @@ robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); robotControl.setEnable(false); - wait(0.1); + wait(PERIOD_ANDROID/2); } else { robotControl.setEnable(true); robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta()); - wait(0.1); + state.savePlotFile(s); + wait(PERIOD_ANDROID/2); state.savePlotFile(s); //void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b) } @@ -194,7 +195,7 @@ s.voltageBattery); //connection->write(sizeof(str),(unsigned char*)&str); - wait(0.1); + wait(PERIOD_ANDROID/2); }