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This program is for an autonomous robot for the competition at the Hochschule Luzern. We are one of the 32 teams. <a href="http://cruisingcrepe.wordpress.com/">http://cruisingcrepe.wordpress.com/</a> 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: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
Fork of autonomousRobotAndroid by
main.cpp@12:235e318a414f, 2013-04-07 (annotated)
- Committer:
- chrigelburri
- Date:
- Sun Apr 07 08:31:51 2013 +0000
- Revision:
- 12:235e318a414f
- Parent:
- 11:775ebb69d5e1
- Child:
- 13:a7c30ee09bae
Kommentare nochmals verbessert android fehlt noch
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chrigelburri | 10:09ddb819fdcb | 1 | /*! \mainpage Index Page |
chrigelburri | 2:d8e1613dc38b | 2 | * @author Christian Burri |
chrigelburri | 11:775ebb69d5e1 | 3 | * @author Arno Galliker |
chrigelburri | 2:d8e1613dc38b | 4 | * |
chrigelburri | 11:775ebb69d5e1 | 5 | * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 1:6cd533a712c6 | 6 | * All rights reserved. |
chrigelburri | 2:d8e1613dc38b | 7 | * |
chrigelburri | 11:775ebb69d5e1 | 8 | * @brief |
chrigelburri | 2:d8e1613dc38b | 9 | * |
chrigelburri | 3:92ba0254af87 | 10 | * This Programm is for a autonomous robot for the competition |
chrigelburri | 4:3a97923ff2d4 | 11 | * at the Hochschule Luzern. |
chrigelburri | 3:92ba0254af87 | 12 | * We are one of the 32 teams. In the team #1 is: |
chrigelburri | 11:775ebb69d5e1 | 13 | * - Bauernfeind Julia <B>WI</B> <a href="mailto:julia.bauernfeind@stud.hslu.ch">julia.bauernfeind@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 14 | * - Büttler Pirmin <B>WI</B> <a href="mailto:pirmin.buetler@stud.hslu.ch">pirmin.buetler@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 15 | * - Amberg Reto <B>I</B> <a href="mailto:reto.amberg@stud.hslu.ch">reto.amberg@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 16 | * - Galliker Arno <B>I</B> <a href="mailto:arno.galliker@stud.hslu.ch">arno.galliker@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 17 | * - Amrein Marcel <B>M</B> <a href="mailto:marcel.amrein@stud.hslu.ch">marcel.amrein@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 18 | * - Flühler Ramon <B>M</B> <a href="mailto:ramon.fluehler@stud.hslu.ch">ramon.fluehler@stud.hslu.ch</a> |
chrigelburri | 11:775ebb69d5e1 | 19 | * - Burri Christian <B>ET</B> <a href="mailto:christian.burri@stud.hslu.ch">christian.burri@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 20 | * |
chrigelburri | 4:3a97923ff2d4 | 21 | * The postition control is based on polar coordiantes. |
chrigelburri | 3:92ba0254af87 | 22 | * For more information see here: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a> |
chrigelburri | 2:d8e1613dc38b | 23 | * |
chrigelburri | 11:775ebb69d5e1 | 24 | * |
chrigelburri | 1:6cd533a712c6 | 25 | */ |
chrigelburri | 1:6cd533a712c6 | 26 | |
chrigelburri | 11:775ebb69d5e1 | 27 | /** |
chrigelburri | 11:775ebb69d5e1 | 28 | * @file main.cpp |
chrigelburri | 11:775ebb69d5e1 | 29 | */ |
chrigelburri | 11:775ebb69d5e1 | 30 | |
chrigelburri | 1:6cd533a712c6 | 31 | #include "defines.h" |
chrigelburri | 1:6cd533a712c6 | 32 | #include "State.h" |
chrigelburri | 1:6cd533a712c6 | 33 | #include "RobotControl.h" |
chrigelburri | 6:48eeb41188dd | 34 | //#include "android.h" |
chrigelburri | 6:48eeb41188dd | 35 | |
chrigelburri | 12:235e318a414f | 36 | /** |
chrigelburri | 12:235e318a414f | 37 | * @name Communication |
chrigelburri | 12:235e318a414f | 38 | * @{ |
chrigelburri | 12:235e318a414f | 39 | */ |
chrigelburri | 12:235e318a414f | 40 | |
chrigelburri | 12:235e318a414f | 41 | /** |
chrigelburri | 12:235e318a414f | 42 | * @brief <code>adkTerm</code> object is for the communication with a smartphone. |
chrigelburri | 12:235e318a414f | 43 | * The operation system must be a android. |
chrigelburri | 12:235e318a414f | 44 | */ |
chrigelburri | 11:775ebb69d5e1 | 45 | //AdkTerm adkTerm; |
chrigelburri | 12:235e318a414f | 46 | /*! @} */ |
chrigelburri | 11:775ebb69d5e1 | 47 | |
chrigelburri | 11:775ebb69d5e1 | 48 | /** |
chrigelburri | 11:775ebb69d5e1 | 49 | * @name Hallsensor |
chrigelburri | 11:775ebb69d5e1 | 50 | * @{ |
chrigelburri | 11:775ebb69d5e1 | 51 | */ |
chrigelburri | 12:235e318a414f | 52 | |
chrigelburri | 12:235e318a414f | 53 | /** |
chrigelburri | 12:235e318a414f | 54 | * @brief <code>hallsensorLeft</code> object with pin15, pin17 and pin16 |
chrigelburri | 12:235e318a414f | 55 | */ |
chrigelburri | 11:775ebb69d5e1 | 56 | Hallsensor hallLeft(p18, p17, p16); |
chrigelburri | 12:235e318a414f | 57 | |
chrigelburri | 11:775ebb69d5e1 | 58 | /** |
chrigelburri | 11:775ebb69d5e1 | 59 | * @brief <code>hallsensorLeft</code> object with pin17, pin28 and pin29 |
chrigelburri | 11:775ebb69d5e1 | 60 | */ |
chrigelburri | 11:775ebb69d5e1 | 61 | Hallsensor hallRight(p27, p28, p29); |
chrigelburri | 11:775ebb69d5e1 | 62 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 63 | |
chrigelburri | 10:09ddb819fdcb | 64 | /** |
chrigelburri | 11:775ebb69d5e1 | 65 | * @name Motors and Robot Control |
chrigelburri | 12:235e318a414f | 66 | * @{ |
chrigelburri | 10:09ddb819fdcb | 67 | */ |
chrigelburri | 12:235e318a414f | 68 | |
chrigelburri | 12:235e318a414f | 69 | /** |
chrigelburri | 12:235e318a414f | 70 | * @brief <code>leftMotor</code> object with pin26, pin25, pin24, |
chrigelburri | 12:235e318a414f | 71 | * pin19 and <code>hallsensorLeft</code> object |
chrigelburri | 12:235e318a414f | 72 | */ |
chrigelburri | 1:6cd533a712c6 | 73 | MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft); |
chrigelburri | 12:235e318a414f | 74 | |
chrigelburri | 11:775ebb69d5e1 | 75 | /** |
chrigelburri | 12:235e318a414f | 76 | * @brief <code>rightMotor</code> object with pin23, pin22, pin21, |
chrigelburri | 12:235e318a414f | 77 | * pin20 and <code>hallsensorRight</code> object |
chrigelburri | 11:775ebb69d5e1 | 78 | */ |
chrigelburri | 1:6cd533a712c6 | 79 | MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight); |
chrigelburri | 1:6cd533a712c6 | 80 | |
chrigelburri | 11:775ebb69d5e1 | 81 | /** |
chrigelburri | 12:235e318a414f | 82 | * @brief <code>robotControl</code> object with <code>leftMotor</code>, |
chrigelburri | 12:235e318a414f | 83 | * <code>rightMotor</code> and the sampling rate for the run method |
chrigelburri | 11:775ebb69d5e1 | 84 | */ |
chrigelburri | 11:775ebb69d5e1 | 85 | RobotControl robotControl(&leftMotor, &rightMotor, PERIOD_ROBOTCONTROL); |
chrigelburri | 11:775ebb69d5e1 | 86 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 87 | |
chrigelburri | 11:775ebb69d5e1 | 88 | /** |
chrigelburri | 11:775ebb69d5e1 | 89 | * @name Logging & State |
chrigelburri | 11:775ebb69d5e1 | 90 | * @{ |
chrigelburri | 11:775ebb69d5e1 | 91 | */ |
chrigelburri | 12:235e318a414f | 92 | |
chrigelburri | 12:235e318a414f | 93 | /** |
chrigelburri | 12:235e318a414f | 94 | * @brief Define the struct for the State and the Logging |
chrigelburri | 12:235e318a414f | 95 | */ |
chrigelburri | 11:775ebb69d5e1 | 96 | state_t s; |
chrigelburri | 12:235e318a414f | 97 | |
chrigelburri | 11:775ebb69d5e1 | 98 | /** |
chrigelburri | 12:235e318a414f | 99 | * @brief <code>state</code> object with <code>robotControl</code>, |
chrigelburri | 12:235e318a414f | 100 | * <code>rightMotor</code>, <code>leftMotor</code>, <code>battery</code> |
chrigelburri | 12:235e318a414f | 101 | * and the sampling rate for the run method |
chrigelburri | 11:775ebb69d5e1 | 102 | */ |
chrigelburri | 11:775ebb69d5e1 | 103 | State state(&s, &robotControl, &leftMotor, &rightMotor, p15, PERIOD_STATE); |
chrigelburri | 11:775ebb69d5e1 | 104 | /*! @} */ |
chrigelburri | 1:6cd533a712c6 | 105 | |
chrigelburri | 12:235e318a414f | 106 | // @todo PC USB communications DAs wird danach gelöscht |
chrigelburri | 11:775ebb69d5e1 | 107 | //Serial pc(USBTX, USBRX); |
chrigelburri | 1:6cd533a712c6 | 108 | |
chrigelburri | 12:235e318a414f | 109 | /** |
chrigelburri | 12:235e318a414f | 110 | * @brief Main function. Start the Programm here. |
chrigelburri | 12:235e318a414f | 111 | */ |
chrigelburri | 1:6cd533a712c6 | 112 | int main() |
chrigelburri | 1:6cd533a712c6 | 113 | { |
chrigelburri | 12:235e318a414f | 114 | |
chrigelburri | 12:235e318a414f | 115 | /** |
chrigelburri | 12:235e318a414f | 116 | * Initialze the filt PLOTS.txt, |
chrigelburri | 12:235e318a414f | 117 | * start the timer for the Logging to the file |
chrigelburri | 12:235e318a414f | 118 | * and start the Task for logging |
chrigelburri | 12:235e318a414f | 119 | **/ |
chrigelburri | 12:235e318a414f | 120 | state.initPlotFile(); |
chrigelburri | 12:235e318a414f | 121 | state.startTimerFromZero(); |
chrigelburri | 12:235e318a414f | 122 | state.start(); |
chrigelburri | 12:235e318a414f | 123 | |
chrigelburri | 12:235e318a414f | 124 | /** |
chrigelburri | 12:235e318a414f | 125 | * Clear all Errors of the ESCON Module, with a disabled to enable event |
chrigelburri | 12:235e318a414f | 126 | */ |
chrigelburri | 1:6cd533a712c6 | 127 | robotControl.setEnable(false); |
chrigelburri | 6:48eeb41188dd | 128 | wait(0.1); |
chrigelburri | 1:6cd533a712c6 | 129 | robotControl.setEnable(true); |
chrigelburri | 6:48eeb41188dd | 130 | wait(0.1); |
chrigelburri | 12:235e318a414f | 131 | |
chrigelburri | 12:235e318a414f | 132 | /** |
chrigelburri | 12:235e318a414f | 133 | * Set the startposition and start the Task for controlling the roboter. |
chrigelburri | 12:235e318a414f | 134 | */ |
chrigelburri | 11:775ebb69d5e1 | 135 | robotControl.setAllToZero(0, 0, PI/2 ); |
chrigelburri | 11:775ebb69d5e1 | 136 | // robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); |
chrigelburri | 8:696c2f9dfc62 | 137 | robotControl.start(); |
chrigelburri | 8:696c2f9dfc62 | 138 | |
chrigelburri | 8:696c2f9dfc62 | 139 | |
chrigelburri | 8:696c2f9dfc62 | 140 | // robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 8:696c2f9dfc62 | 141 | // robotControl.setDesiredPositionAndAngle(0, 0, PI/2); |
chrigelburri | 8:696c2f9dfc62 | 142 | // wait(0.1); |
chrigelburri | 8:696c2f9dfc62 | 143 | |
chrigelburri | 8:696c2f9dfc62 | 144 | ////////////////////////////////////////// |
chrigelburri | 2:d8e1613dc38b | 145 | |
chrigelburri | 12:235e318a414f | 146 | robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI); |
chrigelburri | 12:235e318a414f | 147 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 12:235e318a414f | 148 | state.savePlotFile(s); |
chrigelburri | 12:235e318a414f | 149 | }; |
chrigelburri | 12:235e318a414f | 150 | |
chrigelburri | 12:235e318a414f | 151 | robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2); |
chrigelburri | 12:235e318a414f | 152 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 12:235e318a414f | 153 | state.savePlotFile(s); |
chrigelburri | 12:235e318a414f | 154 | }; |
chrigelburri | 8:696c2f9dfc62 | 155 | |
chrigelburri | 12:235e318a414f | 156 | robotControl.setDesiredPositionAndAngle(0.0f, -0.8f, PI/2); |
chrigelburri | 12:235e318a414f | 157 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 12:235e318a414f | 158 | state.savePlotFile(s); |
chrigelburri | 12:235e318a414f | 159 | }; |
chrigelburri | 8:696c2f9dfc62 | 160 | |
chrigelburri | 12:235e318a414f | 161 | robotControl.setDesiredPositionAndAngle(0.0f, -0.2f, PI/2); |
chrigelburri | 12:235e318a414f | 162 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 12:235e318a414f | 163 | state.savePlotFile(s); |
chrigelburri | 12:235e318a414f | 164 | }; |
chrigelburri | 8:696c2f9dfc62 | 165 | |
chrigelburri | 12:235e318a414f | 166 | robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2); |
chrigelburri | 12:235e318a414f | 167 | while(!(s.millis >= 32000)) { |
chrigelburri | 12:235e318a414f | 168 | state.savePlotFile(s); |
chrigelburri | 12:235e318a414f | 169 | }; |
chrigelburri | 12:235e318a414f | 170 | |
chrigelburri | 8:696c2f9dfc62 | 171 | |
chrigelburri | 8:696c2f9dfc62 | 172 | |
chrigelburri | 8:696c2f9dfc62 | 173 | |
chrigelburri | 8:696c2f9dfc62 | 174 | |
chrigelburri | 8:696c2f9dfc62 | 175 | ///////////////////////stay |
chrigelburri | 7:34be8b3a979c | 176 | /* |
chrigelburri | 8:696c2f9dfc62 | 177 | robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2); |
chrigelburri | 8:696c2f9dfc62 | 178 | while(!(s.millis >= 25000)) { |
chrigelburri | 6:48eeb41188dd | 179 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 180 | }; |
chrigelburri | 8:696c2f9dfc62 | 181 | */ |
chrigelburri | 8:696c2f9dfc62 | 182 | //////////////////////////stay |
chrigelburri | 5:48a258f6335e | 183 | |
chrigelburri | 8:696c2f9dfc62 | 184 | |
chrigelburri | 8:696c2f9dfc62 | 185 | |
chrigelburri | 8:696c2f9dfc62 | 186 | |
chrigelburri | 8:696c2f9dfc62 | 187 | |
chrigelburri | 8:696c2f9dfc62 | 188 | |
chrigelburri | 8:696c2f9dfc62 | 189 | |
chrigelburri | 8:696c2f9dfc62 | 190 | //////////////////////////////////////////////////////////////////////// |
chrigelburri | 8:696c2f9dfc62 | 191 | |
chrigelburri | 9:d3cdcdef9719 | 192 | /* |
chrigelburri | 9:d3cdcdef9719 | 193 | |
chrigelburri | 9:d3cdcdef9719 | 194 | //Zum Umfang einstellen 2m fahren |
chrigelburri | 9:d3cdcdef9719 | 195 | robotControl.setDesiredPositionAndAngle(0.0f, 0.5f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 196 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 9:d3cdcdef9719 | 197 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 198 | }; |
chrigelburri | 9:d3cdcdef9719 | 199 | |
chrigelburri | 9:d3cdcdef9719 | 200 | robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 201 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 9:d3cdcdef9719 | 202 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 203 | }; |
chrigelburri | 9:d3cdcdef9719 | 204 | robotControl.setDesiredPositionAndAngle(0.0f, 1.5f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 205 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 9:d3cdcdef9719 | 206 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 207 | }; |
chrigelburri | 8:696c2f9dfc62 | 208 | |
chrigelburri | 6:48eeb41188dd | 209 | |
chrigelburri | 9:d3cdcdef9719 | 210 | robotControl.setDesiredPositionAndAngle(0.0f, 2.0f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 211 | while(!(s.millis >= 30000)) { |
chrigelburri | 9:d3cdcdef9719 | 212 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 213 | }; |
chrigelburri | 8:696c2f9dfc62 | 214 | |
chrigelburri | 9:d3cdcdef9719 | 215 | */ |
chrigelburri | 8:696c2f9dfc62 | 216 | |
chrigelburri | 8:696c2f9dfc62 | 217 | |
chrigelburri | 8:696c2f9dfc62 | 218 | ///////////////oder//////////////////e |
chrigelburri | 8:696c2f9dfc62 | 219 | |
chrigelburri | 8:696c2f9dfc62 | 220 | |
chrigelburri | 8:696c2f9dfc62 | 221 | // Zum radabstand einstellen |
chrigelburri | 8:696c2f9dfc62 | 222 | |
chrigelburri | 8:696c2f9dfc62 | 223 | /* |
chrigelburri | 8:696c2f9dfc62 | 224 | robotControl.setDesiredPositionAndAngle(-0.7f, 1.0f, PI); |
chrigelburri | 7:34be8b3a979c | 225 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 7:34be8b3a979c | 226 | state.savePlotFile(s); |
chrigelburri | 7:34be8b3a979c | 227 | }; |
chrigelburri | 2:d8e1613dc38b | 228 | |
chrigelburri | 8:696c2f9dfc62 | 229 | robotControl.setDesiredPositionAndAngle(-0.8f, 1.0f, PI); |
chrigelburri | 8:696c2f9dfc62 | 230 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 7:34be8b3a979c | 231 | state.savePlotFile(s); |
chrigelburri | 7:34be8b3a979c | 232 | }; |
chrigelburri | 6:48eeb41188dd | 233 | |
chrigelburri | 6:48eeb41188dd | 234 | |
chrigelburri | 8:696c2f9dfc62 | 235 | robotControl.setDesiredPositionAndAngle(-1.0f, 1.0f, PI); |
chrigelburri | 8:696c2f9dfc62 | 236 | while(!(s.millis >= 30000)) { |
chrigelburri | 6:48eeb41188dd | 237 | state.savePlotFile(s); |
chrigelburri | 8:696c2f9dfc62 | 238 | } |
chrigelburri | 9:d3cdcdef9719 | 239 | |
chrigelburri | 8:696c2f9dfc62 | 240 | */ |
chrigelburri | 6:48eeb41188dd | 241 | |
chrigelburri | 6:48eeb41188dd | 242 | |
chrigelburri | 6:48eeb41188dd | 243 | //////////////////////////////////////////////////////// |
chrigelburri | 6:48eeb41188dd | 244 | |
chrigelburri | 6:48eeb41188dd | 245 | |
chrigelburri | 6:48eeb41188dd | 246 | |
chrigelburri | 6:48eeb41188dd | 247 | // Epä Parkour fahrä |
chrigelburri | 11:775ebb69d5e1 | 248 | /* |
chrigelburri | 11:775ebb69d5e1 | 249 | robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 11:775ebb69d5e1 | 250 | wait(0.1); |
chrigelburri | 6:48eeb41188dd | 251 | |
chrigelburri | 11:775ebb69d5e1 | 252 | robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f, 3*PI/4); |
chrigelburri | 11:775ebb69d5e1 | 253 | while(!(robotControl.getDistanceError() <= 0.9)) { |
chrigelburri | 11:775ebb69d5e1 | 254 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 255 | }; |
chrigelburri | 6:48eeb41188dd | 256 | |
chrigelburri | 11:775ebb69d5e1 | 257 | robotControl.setDesiredPositionAndAngle(-1.20f, 2.1f, PI/4); |
chrigelburri | 11:775ebb69d5e1 | 258 | while(!(robotControl.getDistanceError() <= 0.7)) { |
chrigelburri | 11:775ebb69d5e1 | 259 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 260 | }; |
chrigelburri | 5:48a258f6335e | 261 | |
chrigelburri | 11:775ebb69d5e1 | 262 | robotControl.setDesiredPositionAndAngle(-0.75f, 3.0f, PI/2); |
chrigelburri | 11:775ebb69d5e1 | 263 | while(!(robotControl.getDistanceError() <= 0.7)) { |
chrigelburri | 11:775ebb69d5e1 | 264 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 265 | }; |
chrigelburri | 6:48eeb41188dd | 266 | |
chrigelburri | 11:775ebb69d5e1 | 267 | robotControl.setDesiredPositionAndAngle(-1.0f, 3.75f, 3*PI/4); |
chrigelburri | 11:775ebb69d5e1 | 268 | while(!(robotControl.getDistanceError() <= 0.55)) { |
chrigelburri | 11:775ebb69d5e1 | 269 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 270 | }; |
chrigelburri | 8:696c2f9dfc62 | 271 | |
chrigelburri | 4:3a97923ff2d4 | 272 | |
chrigelburri | 11:775ebb69d5e1 | 273 | robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI); |
chrigelburri | 11:775ebb69d5e1 | 274 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 11:775ebb69d5e1 | 275 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 276 | }; |
chrigelburri | 11:775ebb69d5e1 | 277 | |
chrigelburri | 11:775ebb69d5e1 | 278 | robotControl.setDesiredPositionAndAngle(-2.6f, 3.0f, -PI/2); |
chrigelburri | 11:775ebb69d5e1 | 279 | while(!(robotControl.getDistanceError() <= 1.0)) { |
chrigelburri | 11:775ebb69d5e1 | 280 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 281 | }; |
chrigelburri | 11:775ebb69d5e1 | 282 | |
chrigelburri | 11:775ebb69d5e1 | 283 | robotControl.setDesiredPositionAndAngle(-1.74f, 1.30f, -PI/2); |
chrigelburri | 11:775ebb69d5e1 | 284 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 11:775ebb69d5e1 | 285 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 286 | }; |
chrigelburri | 11:775ebb69d5e1 | 287 | robotControl.setDesiredPositionAndAngle(-1.75f, 0.80f, -PI/2); |
chrigelburri | 11:775ebb69d5e1 | 288 | while(!(s.millis >= 32000)) { |
chrigelburri | 11:775ebb69d5e1 | 289 | state.savePlotFile(s); |
chrigelburri | 11:775ebb69d5e1 | 290 | } |
chrigelburri | 9:d3cdcdef9719 | 291 | |
chrigelburri | 11:775ebb69d5e1 | 292 | */ |
chrigelburri | 11:775ebb69d5e1 | 293 | |
chrigelburri | 11:775ebb69d5e1 | 294 | |
chrigelburri | 11:775ebb69d5e1 | 295 | |
chrigelburri | 12:235e318a414f | 296 | /* |
chrigelburri | 9:d3cdcdef9719 | 297 | |
chrigelburri | 12:235e318a414f | 298 | pc.baud(460800); |
chrigelburri | 12:235e318a414f | 299 | pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r"); |
chrigelburri | 12:235e318a414f | 300 | pc.printf("here we go... \n"); |
chrigelburri | 12:235e318a414f | 301 | adkTerm.setupDevice(); |
chrigelburri | 12:235e318a414f | 302 | pc.printf("Android Development Kit: start\r\n"); |
chrigelburri | 12:235e318a414f | 303 | USBInit(); |
chrigelburri | 12:235e318a414f | 304 | while (1) { |
chrigelburri | 12:235e318a414f | 305 | USBLoop(); |
chrigelburri | 12:235e318a414f | 306 | |
chrigelburri | 12:235e318a414f | 307 | pc.printf("Android x: %f ",adkTerm.getx()); |
chrigelburri | 12:235e318a414f | 308 | pc.printf("Android y: %f ",adkTerm.gety()); |
chrigelburri | 12:235e318a414f | 309 | pc.printf("Android t: %f\n",adkTerm.gett()); |
chrigelburri | 12:235e318a414f | 310 | robotControl.setDesiredPositionAndAngle(adkTerm.getx(), adkTerm.gety(), adkTerm.gett()); |
chrigelburri | 12:235e318a414f | 311 | } |
chrigelburri | 8:696c2f9dfc62 | 312 | |
chrigelburri | 8:696c2f9dfc62 | 313 | |
chrigelburri | 8:696c2f9dfc62 | 314 | |
chrigelburri | 12:235e318a414f | 315 | /** |
chrigelburri | 12:235e318a414f | 316 | * Close the File PLOTS.txt to read the file after with the computer and draw a diagramm |
chrigelburri | 12:235e318a414f | 317 | */ |
chrigelburri | 12:235e318a414f | 318 | /* |
chrigelburri | 10:09ddb819fdcb | 319 | state.savePlotFile(s); |
chrigelburri | 10:09ddb819fdcb | 320 | state.closePlotFile(); |
chrigelburri | 10:09ddb819fdcb | 321 | state.stop(); |
chrigelburri | 10:09ddb819fdcb | 322 | robotControl.setEnable(false); |
chrigelburri | 11:775ebb69d5e1 | 323 | */ |
chrigelburri | 10:09ddb819fdcb | 324 | } |