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: StateDefines/State.cpp
- Revision:
- 1:6cd533a712c6
- Parent:
- 0:31f7be68e52d
- Child:
- 2:d8e1613dc38b
--- a/StateDefines/State.cpp Thu Feb 07 17:43:19 2013 +0000
+++ b/StateDefines/State.cpp Sat Mar 02 09:39:34 2013 +0000
@@ -8,14 +8,14 @@
// LocalFileSystem
LocalFileSystem local("local");
-State::State(state_t* s, RobotControl* robotControl, MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, HMC6352* compass, AnalogIn* battery, float period) : Task(period)
+State::State(state_t* s, RobotControl* robotControl, MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, /*HMC6352* compass,*/ AnalogIn* battery, float period) : Task(period)
{
/* get peripherals */
this->s = s;
this->robotControl = robotControl;
this->motorControllerLeft = motorControllerLeft;
this->motorControllerRight = motorControllerRight;
- this->compass = compass;
+ // this->compass = compass;
this->battery =battery;
this->period = period;
@@ -159,7 +159,7 @@
s->xAxisError = robotControl->getxPositionError();
s->yAxisError = robotControl->getyPositionError();
s->angleError = robotControl->getThetaError() * 180 / PI;
- s->compassAngle = compass->getFilteredAngle() * 180 / PI;
+ // s->compassAngle = compass->getFilteredAngle() * 180 / PI;
setBatteryBit();