Christian Burri
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 
Christian Burri
Diff: MicroBridge/androidADB.cpp
- Revision:
- 20:01b233b0e606
- Parent:
- 19:b2f76b0fe4c8
- Child:
- 21:48248c5b8992
--- a/MicroBridge/androidADB.cpp Fri May 03 13:34:34 2013 +0000
+++ b/MicroBridge/androidADB.cpp Fri May 03 14:39:24 2013 +0000
@@ -17,17 +17,17 @@
float getDesiredX()
{
- return androidx;
+ return androidx/1000;
}
float getDesiredY()
{
- return androidy;
+ return androidy/1000;
}
float getDesiredTheta()
{
- return androidt;
+ return androidt * PI / 180;
}
void Tokenize(const string& str,
vector<string>& tokens,
@@ -128,18 +128,25 @@
connection->write(sizeof(str),(unsigned char*)&str);
}
-void writeActualPosition(float x, float y, float t)
+void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b)
{
-
+ // reconnect funktioniert trotzdem nicht!?
while(!(androidConnected)) {
connect();
wait(0.5);
}
- char str[32];
- sprintf( str, "%f;%f;%f;", x, y, t);
+ char str[100];
+
+ //send to android
+ sprintf( str, "%f;%f;%f;%i;%i;%i;%f;;", x,
+ y,
+ t * 180 / PI,
+ state_u == 0 ? 0 : 1,
+ state_l == 0 ? 0 : 1,
+ state_r == 0 ? 0 : 1,
+ volt_b);
- //pc.printf("Sending: %s\n\r",str);
connection->write(sizeof(str),(unsigned char*)&str);
}