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@10:09ddb819fdcb, 2013-04-04 (annotated)
- Committer:
- chrigelburri
- Date:
- Thu Apr 04 06:43:43 2013 +0000
- Revision:
- 10:09ddb819fdcb
- Parent:
- 9:d3cdcdef9719
- Child:
- 11:775ebb69d5e1
vor dem sauberen kommentieren
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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chrigelburri | 10:09ddb819fdcb | 1 | /*! \mainpage Index Page |
chrigelburri | 8:696c2f9dfc62 | 2 | * |
chrigelburri | 2:d8e1613dc38b | 3 | * @author Christian Burri |
chrigelburri | 2:d8e1613dc38b | 4 | * |
chrigelburri | 2:d8e1613dc38b | 5 | * @section LICENSE |
chrigelburri | 2:d8e1613dc38b | 6 | * |
chrigelburri | 2:d8e1613dc38b | 7 | * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 1:6cd533a712c6 | 8 | * All rights reserved. |
chrigelburri | 2:d8e1613dc38b | 9 | * |
chrigelburri | 2:d8e1613dc38b | 10 | * @section DESCRIPTION |
chrigelburri | 2:d8e1613dc38b | 11 | * |
chrigelburri | 3:92ba0254af87 | 12 | * This Programm is for a autonomous robot for the competition |
chrigelburri | 4:3a97923ff2d4 | 13 | * at the Hochschule Luzern. |
chrigelburri | 3:92ba0254af87 | 14 | * We are one of the 32 teams. In the team #1 is: |
chrigelburri | 4:3a97923ff2d4 | 15 | * - Bauernfeind Julia <B>WI</B> <a href="julia.bauernfeind@stud.hslu.ch">julia.bauernfeind@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 16 | * - Büttler Pirmin <B>WI</B> <a href="pirmin.buetler@stud.hslu.ch">pirmin.buetler@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 17 | * - Amberg Reto <B>I</B> <a href="reto.amberg@stud.hslu.ch">reto.amberg@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 18 | * - Galliker Arno <B>I</B> <a href="arno.galliker@stud.hslu.ch">arno.galliker@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 19 | * - Amrein Marcel <B>M</B> <a href="marcel.amrein@stud.hslu.ch">marcel.amrein@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 20 | * - Flühler Ramon <B>M</B> <a href="ramon.fluehler@stud.hslu.ch">ramon.fluehler@stud.hslu.ch</a> |
chrigelburri | 3:92ba0254af87 | 21 | * - Burri Christian <B>ET</B> <a href="christian.burri@stud.hslu.ch">christian.burri@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 22 | * |
chrigelburri | 4:3a97923ff2d4 | 23 | * The postition control is based on polar coordiantes. |
chrigelburri | 3:92ba0254af87 | 24 | * 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 | 25 | * |
chrigelburri | 1:6cd533a712c6 | 26 | */ |
chrigelburri | 1:6cd533a712c6 | 27 | |
chrigelburri | 1:6cd533a712c6 | 28 | #include "mbed.h" |
chrigelburri | 1:6cd533a712c6 | 29 | #include "math.h" |
chrigelburri | 1:6cd533a712c6 | 30 | #include "defines.h" |
chrigelburri | 1:6cd533a712c6 | 31 | #include "State.h" |
chrigelburri | 1:6cd533a712c6 | 32 | #include "HMC5883L.h" |
chrigelburri | 1:6cd533a712c6 | 33 | #include "HMC6352.h" |
chrigelburri | 1:6cd533a712c6 | 34 | #include "RobotControl.h" |
chrigelburri | 1:6cd533a712c6 | 35 | #include "Ping.h" |
chrigelburri | 1:6cd533a712c6 | 36 | #include "PowerControl/EthernetPowerControl.h" |
chrigelburri | 6:48eeb41188dd | 37 | //#include "android.h" |
chrigelburri | 6:48eeb41188dd | 38 | |
chrigelburri | 6:48eeb41188dd | 39 | //Android |
chrigelburri | 6:48eeb41188dd | 40 | //AdkTerm AdkTerm; |
chrigelburri | 1:6cd533a712c6 | 41 | |
chrigelburri | 10:09ddb819fdcb | 42 | /** |
chrigelburri | 10:09ddb819fdcb | 43 | * LiPo Batterie for check an undervoltage. |
chrigelburri | 10:09ddb819fdcb | 44 | */ |
chrigelburri | 10:09ddb819fdcb | 45 | AnalogIn battery(p15); |
chrigelburri | 1:6cd533a712c6 | 46 | |
chrigelburri | 1:6cd533a712c6 | 47 | // compass |
chrigelburri | 1:6cd533a712c6 | 48 | //HMC5883L compass(p9, p10, PERIOD_COMPASS); // sda, sdl (I2C) |
chrigelburri | 1:6cd533a712c6 | 49 | //HMC6352 compass(p9, p10, PERIOD_COMPASS); // sda, sdl (I2C) |
chrigelburri | 1:6cd533a712c6 | 50 | |
chrigelburri | 1:6cd533a712c6 | 51 | //Hallsensor |
chrigelburri | 1:6cd533a712c6 | 52 | //hall1, hall2, hall3 |
chrigelburri | 1:6cd533a712c6 | 53 | Hallsensor hallLeft(p18, p17, p16); |
chrigelburri | 1:6cd533a712c6 | 54 | //hall1, hall2, hall3 |
chrigelburri | 1:6cd533a712c6 | 55 | Hallsensor hallRight(p27, p28, p29); |
chrigelburri | 1:6cd533a712c6 | 56 | |
chrigelburri | 1:6cd533a712c6 | 57 | // Motors |
chrigelburri | 1:6cd533a712c6 | 58 | //enb, ready, pwm, actualSpeed, Hallsensor object |
chrigelburri | 1:6cd533a712c6 | 59 | MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft); |
chrigelburri | 1:6cd533a712c6 | 60 | //enb, ready, pwm, actualSpeed, Hallsensor object |
chrigelburri | 1:6cd533a712c6 | 61 | MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight); |
chrigelburri | 1:6cd533a712c6 | 62 | |
chrigelburri | 1:6cd533a712c6 | 63 | // Robot Control |
chrigelburri | 1:6cd533a712c6 | 64 | RobotControl robotControl (&leftMotor, &rightMotor, /*&compass,*/ PERIOD_ROBOTCONTROL); |
chrigelburri | 1:6cd533a712c6 | 65 | |
chrigelburri | 1:6cd533a712c6 | 66 | // Logging & State |
chrigelburri | 1:6cd533a712c6 | 67 | state_t s; // stuct state |
chrigelburri | 1:6cd533a712c6 | 68 | State state(&s, &robotControl, &leftMotor, &rightMotor, /*&compass,*/ &battery, PERIOD_STATE); |
chrigelburri | 1:6cd533a712c6 | 69 | |
chrigelburri | 1:6cd533a712c6 | 70 | // PC USB communications |
chrigelburri | 1:6cd533a712c6 | 71 | Serial pc(USBTX, USBRX); |
chrigelburri | 1:6cd533a712c6 | 72 | |
chrigelburri | 1:6cd533a712c6 | 73 | DigitalOut myled(LED1); |
chrigelburri | 1:6cd533a712c6 | 74 | |
chrigelburri | 1:6cd533a712c6 | 75 | |
chrigelburri | 1:6cd533a712c6 | 76 | // LiPo Batterie |
chrigelburri | 1:6cd533a712c6 | 77 | float batterie_voltage; |
chrigelburri | 1:6cd533a712c6 | 78 | |
chrigelburri | 1:6cd533a712c6 | 79 | int main() |
chrigelburri | 1:6cd533a712c6 | 80 | { |
chrigelburri | 1:6cd533a712c6 | 81 | /** Normal mbed power level for this setup is around 690mW |
chrigelburri | 10:09ddb819fdcb | 82 | * assuming 5V used on Vin pin |
chrigelburri | 10:09ddb819fdcb | 83 | * If you don't need networking... |
chrigelburri | 10:09ddb819fdcb | 84 | * Power down Ethernet interface - saves around 175mW |
chrigelburri | 10:09ddb819fdcb | 85 | * Also need to unplug network cable - just a cable sucks power |
chrigelburri | 10:09ddb819fdcb | 86 | */ |
chrigelburri | 1:6cd533a712c6 | 87 | PHY_PowerDown(); |
chrigelburri | 2:d8e1613dc38b | 88 | |
chrigelburri | 2:d8e1613dc38b | 89 | // robotControl.start(); |
chrigelburri | 1:6cd533a712c6 | 90 | // compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
chrigelburri | 1:6cd533a712c6 | 91 | // compass.start(); |
chrigelburri | 4:3a97923ff2d4 | 92 | |
chrigelburri | 2:d8e1613dc38b | 93 | state.initPlotFile(); |
chrigelburri | 8:696c2f9dfc62 | 94 | state.startTimerFromZero(); |
chrigelburri | 8:696c2f9dfc62 | 95 | state.start(); |
chrigelburri | 2:d8e1613dc38b | 96 | |
chrigelburri | 1:6cd533a712c6 | 97 | robotControl.setEnable(false); |
chrigelburri | 6:48eeb41188dd | 98 | wait(0.1); |
chrigelburri | 1:6cd533a712c6 | 99 | robotControl.setEnable(true); |
chrigelburri | 6:48eeb41188dd | 100 | wait(0.1); |
chrigelburri | 9:d3cdcdef9719 | 101 | //robotControl.setAllToZero(0, 0, PI/2 ); |
chrigelburri | 10:09ddb819fdcb | 102 | robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); |
chrigelburri | 8:696c2f9dfc62 | 103 | robotControl.start(); |
chrigelburri | 8:696c2f9dfc62 | 104 | |
chrigelburri | 8:696c2f9dfc62 | 105 | |
chrigelburri | 8:696c2f9dfc62 | 106 | // robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 8:696c2f9dfc62 | 107 | // robotControl.setDesiredPositionAndAngle(0, 0, PI/2); |
chrigelburri | 8:696c2f9dfc62 | 108 | // wait(0.1); |
chrigelburri | 8:696c2f9dfc62 | 109 | |
chrigelburri | 8:696c2f9dfc62 | 110 | ////////////////////////////////////////// |
chrigelburri | 9:d3cdcdef9719 | 111 | /* |
chrigelburri | 9:d3cdcdef9719 | 112 | robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI); |
chrigelburri | 9:d3cdcdef9719 | 113 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 9:d3cdcdef9719 | 114 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 115 | }; |
chrigelburri | 2:d8e1613dc38b | 116 | |
chrigelburri | 9:d3cdcdef9719 | 117 | robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2); |
chrigelburri | 9:d3cdcdef9719 | 118 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 9:d3cdcdef9719 | 119 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 120 | }; |
chrigelburri | 8:696c2f9dfc62 | 121 | |
chrigelburri | 9:d3cdcdef9719 | 122 | robotControl.setDesiredPositionAndAngle(0.0f, -0.8f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 123 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 9:d3cdcdef9719 | 124 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 125 | }; |
chrigelburri | 8:696c2f9dfc62 | 126 | |
chrigelburri | 9:d3cdcdef9719 | 127 | robotControl.setDesiredPositionAndAngle(0.0f, -0.2f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 128 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 9:d3cdcdef9719 | 129 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 130 | }; |
chrigelburri | 8:696c2f9dfc62 | 131 | |
chrigelburri | 9:d3cdcdef9719 | 132 | robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 133 | while(!(s.millis >= 32000)) { |
chrigelburri | 9:d3cdcdef9719 | 134 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 135 | }; |
chrigelburri | 9:d3cdcdef9719 | 136 | */ |
chrigelburri | 8:696c2f9dfc62 | 137 | |
chrigelburri | 8:696c2f9dfc62 | 138 | |
chrigelburri | 8:696c2f9dfc62 | 139 | |
chrigelburri | 8:696c2f9dfc62 | 140 | |
chrigelburri | 8:696c2f9dfc62 | 141 | ///////////////////////stay |
chrigelburri | 7:34be8b3a979c | 142 | /* |
chrigelburri | 8:696c2f9dfc62 | 143 | robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2); |
chrigelburri | 8:696c2f9dfc62 | 144 | while(!(s.millis >= 25000)) { |
chrigelburri | 6:48eeb41188dd | 145 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 146 | }; |
chrigelburri | 8:696c2f9dfc62 | 147 | */ |
chrigelburri | 8:696c2f9dfc62 | 148 | //////////////////////////stay |
chrigelburri | 5:48a258f6335e | 149 | |
chrigelburri | 8:696c2f9dfc62 | 150 | |
chrigelburri | 8:696c2f9dfc62 | 151 | |
chrigelburri | 8:696c2f9dfc62 | 152 | |
chrigelburri | 8:696c2f9dfc62 | 153 | |
chrigelburri | 8:696c2f9dfc62 | 154 | |
chrigelburri | 8:696c2f9dfc62 | 155 | |
chrigelburri | 8:696c2f9dfc62 | 156 | //////////////////////////////////////////////////////////////////////// |
chrigelburri | 8:696c2f9dfc62 | 157 | |
chrigelburri | 9:d3cdcdef9719 | 158 | /* |
chrigelburri | 9:d3cdcdef9719 | 159 | |
chrigelburri | 9:d3cdcdef9719 | 160 | //Zum Umfang einstellen 2m fahren |
chrigelburri | 9:d3cdcdef9719 | 161 | robotControl.setDesiredPositionAndAngle(0.0f, 0.5f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 162 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 9:d3cdcdef9719 | 163 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 164 | }; |
chrigelburri | 9:d3cdcdef9719 | 165 | |
chrigelburri | 9:d3cdcdef9719 | 166 | robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 167 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 9:d3cdcdef9719 | 168 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 169 | }; |
chrigelburri | 9:d3cdcdef9719 | 170 | robotControl.setDesiredPositionAndAngle(0.0f, 1.5f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 171 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 9:d3cdcdef9719 | 172 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 173 | }; |
chrigelburri | 8:696c2f9dfc62 | 174 | |
chrigelburri | 6:48eeb41188dd | 175 | |
chrigelburri | 9:d3cdcdef9719 | 176 | robotControl.setDesiredPositionAndAngle(0.0f, 2.0f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 177 | while(!(s.millis >= 30000)) { |
chrigelburri | 9:d3cdcdef9719 | 178 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 179 | }; |
chrigelburri | 8:696c2f9dfc62 | 180 | |
chrigelburri | 9:d3cdcdef9719 | 181 | */ |
chrigelburri | 8:696c2f9dfc62 | 182 | |
chrigelburri | 8:696c2f9dfc62 | 183 | |
chrigelburri | 8:696c2f9dfc62 | 184 | ///////////////oder//////////////////e |
chrigelburri | 8:696c2f9dfc62 | 185 | |
chrigelburri | 8:696c2f9dfc62 | 186 | |
chrigelburri | 8:696c2f9dfc62 | 187 | // Zum radabstand einstellen |
chrigelburri | 8:696c2f9dfc62 | 188 | |
chrigelburri | 8:696c2f9dfc62 | 189 | /* |
chrigelburri | 8:696c2f9dfc62 | 190 | robotControl.setDesiredPositionAndAngle(-0.7f, 1.0f, PI); |
chrigelburri | 7:34be8b3a979c | 191 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 7:34be8b3a979c | 192 | state.savePlotFile(s); |
chrigelburri | 7:34be8b3a979c | 193 | }; |
chrigelburri | 2:d8e1613dc38b | 194 | |
chrigelburri | 8:696c2f9dfc62 | 195 | robotControl.setDesiredPositionAndAngle(-0.8f, 1.0f, PI); |
chrigelburri | 8:696c2f9dfc62 | 196 | while(!(robotControl.getDistanceError() <= 0.05)) { |
chrigelburri | 7:34be8b3a979c | 197 | state.savePlotFile(s); |
chrigelburri | 7:34be8b3a979c | 198 | }; |
chrigelburri | 6:48eeb41188dd | 199 | |
chrigelburri | 6:48eeb41188dd | 200 | |
chrigelburri | 8:696c2f9dfc62 | 201 | robotControl.setDesiredPositionAndAngle(-1.0f, 1.0f, PI); |
chrigelburri | 8:696c2f9dfc62 | 202 | while(!(s.millis >= 30000)) { |
chrigelburri | 6:48eeb41188dd | 203 | state.savePlotFile(s); |
chrigelburri | 8:696c2f9dfc62 | 204 | } |
chrigelburri | 9:d3cdcdef9719 | 205 | |
chrigelburri | 8:696c2f9dfc62 | 206 | */ |
chrigelburri | 6:48eeb41188dd | 207 | |
chrigelburri | 6:48eeb41188dd | 208 | |
chrigelburri | 6:48eeb41188dd | 209 | //////////////////////////////////////////////////////// |
chrigelburri | 6:48eeb41188dd | 210 | |
chrigelburri | 6:48eeb41188dd | 211 | |
chrigelburri | 6:48eeb41188dd | 212 | |
chrigelburri | 6:48eeb41188dd | 213 | // Epä Parkour fahrä |
chrigelburri | 5:48a258f6335e | 214 | |
chrigelburri | 9:d3cdcdef9719 | 215 | robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 216 | wait(0.1); |
chrigelburri | 6:48eeb41188dd | 217 | |
chrigelburri | 9:d3cdcdef9719 | 218 | robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f, 3*PI/4); |
chrigelburri | 9:d3cdcdef9719 | 219 | while(!(robotControl.getDistanceError() <= 0.9)) { |
chrigelburri | 9:d3cdcdef9719 | 220 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 221 | }; |
chrigelburri | 6:48eeb41188dd | 222 | |
chrigelburri | 9:d3cdcdef9719 | 223 | robotControl.setDesiredPositionAndAngle(-1.20f, 2.1f, PI/4); |
chrigelburri | 9:d3cdcdef9719 | 224 | while(!(robotControl.getDistanceError() <= 0.7)) { |
chrigelburri | 9:d3cdcdef9719 | 225 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 226 | }; |
chrigelburri | 5:48a258f6335e | 227 | |
chrigelburri | 9:d3cdcdef9719 | 228 | robotControl.setDesiredPositionAndAngle(-0.75f, 3.0f, PI/2); |
chrigelburri | 9:d3cdcdef9719 | 229 | while(!(robotControl.getDistanceError() <= 0.7)) { |
chrigelburri | 9:d3cdcdef9719 | 230 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 231 | }; |
chrigelburri | 6:48eeb41188dd | 232 | |
chrigelburri | 9:d3cdcdef9719 | 233 | robotControl.setDesiredPositionAndAngle(-1.0f, 3.75f, 3*PI/4); |
chrigelburri | 9:d3cdcdef9719 | 234 | while(!(robotControl.getDistanceError() <= 0.55)) { |
chrigelburri | 9:d3cdcdef9719 | 235 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 236 | }; |
chrigelburri | 8:696c2f9dfc62 | 237 | |
chrigelburri | 4:3a97923ff2d4 | 238 | |
chrigelburri | 9:d3cdcdef9719 | 239 | robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI); |
chrigelburri | 9:d3cdcdef9719 | 240 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 9:d3cdcdef9719 | 241 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 242 | }; |
chrigelburri | 9:d3cdcdef9719 | 243 | |
chrigelburri | 9:d3cdcdef9719 | 244 | robotControl.setDesiredPositionAndAngle(-2.4f, 3.0f, -PI/2); |
chrigelburri | 9:d3cdcdef9719 | 245 | while(!(robotControl.getDistanceError() <= 1.0)) { |
chrigelburri | 9:d3cdcdef9719 | 246 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 247 | }; |
chrigelburri | 9:d3cdcdef9719 | 248 | |
chrigelburri | 9:d3cdcdef9719 | 249 | robotControl.setDesiredPositionAndAngle(-1.74f, 1.30f, -PI/2); |
chrigelburri | 9:d3cdcdef9719 | 250 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 9:d3cdcdef9719 | 251 | state.savePlotFile(s); |
chrigelburri | 9:d3cdcdef9719 | 252 | }; |
chrigelburri | 9:d3cdcdef9719 | 253 | robotControl.setDesiredPositionAndAngle(-1.75f, 0.80f, -PI/2); |
chrigelburri | 9:d3cdcdef9719 | 254 | while(!(s.millis >= 32000)) { |
chrigelburri | 9:d3cdcdef9719 | 255 | state.savePlotFile(s); |
chrigelburri | 10:09ddb819fdcb | 256 | } |
chrigelburri | 8:696c2f9dfc62 | 257 | |
chrigelburri | 8:696c2f9dfc62 | 258 | |
chrigelburri | 8:696c2f9dfc62 | 259 | |
chrigelburri | 8:696c2f9dfc62 | 260 | |
chrigelburri | 6:48eeb41188dd | 261 | |
chrigelburri | 10:09ddb819fdcb | 262 | /* |
chrigelburri | 10:09ddb819fdcb | 263 | printf("here we go... \n"); |
chrigelburri | 10:09ddb819fdcb | 264 | AdkTerm.setupDevice(); |
chrigelburri | 10:09ddb819fdcb | 265 | printf("Android Development Kit: start\r\n"); |
chrigelburri | 10:09ddb819fdcb | 266 | USBInit(); |
chrigelburri | 10:09ddb819fdcb | 267 | while (!(s.millis >= 60000)) { |
chrigelburri | 10:09ddb819fdcb | 268 | USBLoop(); |
chrigelburri | 9:d3cdcdef9719 | 269 | |
chrigelburri | 10:09ddb819fdcb | 270 | printf("x: %f y: %f theta: %f", AdkTerm.getx(), AdkTerm.getx(), AdkTerm.getx() ) |
chrigelburri | 6:48eeb41188dd | 271 | |
chrigelburri | 10:09ddb819fdcb | 272 | if( AdkTerm.getx() == 99) { |
chrigelburri | 10:09ddb819fdcb | 273 | break; |
chrigelburri | 6:48eeb41188dd | 274 | } |
chrigelburri | 10:09ddb819fdcb | 275 | } |
chrigelburri | 10:09ddb819fdcb | 276 | */ |
chrigelburri | 2:d8e1613dc38b | 277 | |
chrigelburri | 10:09ddb819fdcb | 278 | state.savePlotFile(s); |
chrigelburri | 10:09ddb819fdcb | 279 | state.closePlotFile(); |
chrigelburri | 10:09ddb819fdcb | 280 | state.stop(); |
chrigelburri | 10:09ddb819fdcb | 281 | robotControl.setEnable(false); |
chrigelburri | 10:09ddb819fdcb | 282 | } |