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
MicroBridge/androidADB.h
- Committer:
- chrigelburri
- Date:
- 2013-05-21
- Revision:
- 33:ac39982fd3b2
- Parent:
- 32:767044a3e421
- Child:
- 34:62996eed658a
File content as of revision 33:ac39982fd3b2:
#ifndef _ANDROIDADB_H_ #define _ANDROIDADB_H_ #include "mbed.h" #include "Adb.h" #include "defines.h" #include <string> #include <sstream> #include <vector> #include <iostream> #include <stdlib.h> /** * @brief Takes an string, a vector of strings for the delimited tokens, and a with the * @param str * @param tokens * @param delimiters */ void Tokenize(const string& str, vector<string>& tokens, const string& delimiters = " "); /** * @brief Parse the Message, split and save it to the Attributes. * @param length length of the data * @param data Data to parse */ void parseMessage(uint16_t length, uint8_t * data); /** * @brief Connecting to android. */ void connect(); /** * @brief Gets the desired θ value. * @return the desired θ, given in [°] */ float getDesiredTheta(); /** * @brief Gets the desired X-postition. * @return the desired X-postition, given in [m] */ float getDesiredX(); /** * @brief Gets the desired Y-postition. * @return the desired Y-postition, given in [m] */ float getDesiredY(); /** * @brief Sets the desired θ value. * @param t desired θ value, given in [°] */ void setDesiredTheta(float t); /** * @brief Initialise the ADB subsystem. Open an ADB stream on tcp port 4568. */ void init(); /** * @brief Write the Parameterlist to the android smartphone. * @param x Acutal X-Position * @param y Acutal Y-Position * @param t Acutal θ-Position * @param state_u Actual State Undervoltage * @param state_l Actual Left State * @param state_r Actual Right State * @param volt_b Actual battery voltage */ void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b); #endif