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@38:d76e488e725f, 2013-06-10 (annotated)
- Committer:
- chrigelburri
- Date:
- Mon Jun 10 08:21:41 2013 +0000
- Revision:
- 38:d76e488e725f
- Parent:
- 34:62996eed658a
copyright noch neu hinzugef?gt. Bereit zur Ver?ffentlichung
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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chrigelburri | 18:306d362d692b | 1 | #ifndef _ANDROIDADB_H_ |
chrigelburri | 18:306d362d692b | 2 | #define _ANDROIDADB_H_ |
chrigelburri | 18:306d362d692b | 3 | |
chrigelburri | 18:306d362d692b | 4 | #include "mbed.h" |
chrigelburri | 18:306d362d692b | 5 | #include "Adb.h" |
chrigelburri | 20:01b233b0e606 | 6 | #include "defines.h" |
chrigelburri | 18:306d362d692b | 7 | |
chrigelburri | 18:306d362d692b | 8 | #include <string> |
chrigelburri | 18:306d362d692b | 9 | #include <sstream> |
chrigelburri | 18:306d362d692b | 10 | #include <vector> |
chrigelburri | 18:306d362d692b | 11 | #include <iostream> |
chrigelburri | 18:306d362d692b | 12 | #include <stdlib.h> |
chrigelburri | 18:306d362d692b | 13 | |
chrigelburri | 18:306d362d692b | 14 | /** |
chrigelburri | 34:62996eed658a | 15 | * @author Arno Galliker |
chrigelburri | 34:62996eed658a | 16 | * |
chrigelburri | 38:d76e488e725f | 17 | * @copyright Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 34:62996eed658a | 18 | * All rights reserved. |
chrigelburri | 34:62996eed658a | 19 | * |
chrigelburri | 34:62996eed658a | 20 | * @brief |
chrigelburri | 34:62996eed658a | 21 | * |
chrigelburri | 34:62996eed658a | 22 | * This File is for the connection to te self written java android app. |
chrigelburri | 34:62996eed658a | 23 | * The connection works with the ADB class from rom Junichi Katsu. |
chrigelburri | 34:62996eed658a | 24 | * For more information see here: <a href="http://mbed.org/users/jksoft/code/MicroBridge/">http://mbed.org/users/jksoft/code/MicroBridge/</a> |
chrigelburri | 38:d76e488e725f | 25 | * |
chrigelburri | 38:d76e488e725f | 26 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, |
chrigelburri | 38:d76e488e725f | 27 | * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
chrigelburri | 38:d76e488e725f | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
chrigelburri | 38:d76e488e725f | 29 | * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
chrigelburri | 38:d76e488e725f | 30 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, |
chrigelburri | 38:d76e488e725f | 31 | * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF |
chrigelburri | 38:d76e488e725f | 32 | * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
chrigelburri | 34:62996eed658a | 33 | */ |
chrigelburri | 34:62996eed658a | 34 | |
chrigelburri | 34:62996eed658a | 35 | /** |
chrigelburri | 34:62996eed658a | 36 | * @file androidADB.h |
chrigelburri | 34:62996eed658a | 37 | */ |
chrigelburri | 34:62996eed658a | 38 | |
chrigelburri | 34:62996eed658a | 39 | /** |
chrigelburri | 34:62996eed658a | 40 | * @brief Takes an string, a vector of strings for the delimited tokens. |
chrigelburri | 34:62996eed658a | 41 | * Tokens is the array to separated with the delimiters. |
chrigelburri | 34:62996eed658a | 42 | * @param str to |
chrigelburri | 34:62996eed658a | 43 | * @param tokens is the vecotr array |
chrigelburri | 34:62996eed658a | 44 | * @param delimiters of the string |
chrigelburri | 21:48248c5b8992 | 45 | */ |
chrigelburri | 18:306d362d692b | 46 | void Tokenize(const string& str, |
chrigelburri | 18:306d362d692b | 47 | vector<string>& tokens, |
chrigelburri | 18:306d362d692b | 48 | const string& delimiters = " "); |
chrigelburri | 21:48248c5b8992 | 49 | |
chrigelburri | 21:48248c5b8992 | 50 | /** |
chrigelburri | 33:ac39982fd3b2 | 51 | * @brief Parse the Message, split and save it to the Attributes. |
chrigelburri | 33:ac39982fd3b2 | 52 | * @param length length of the data |
chrigelburri | 33:ac39982fd3b2 | 53 | * @param data Data to parse |
chrigelburri | 21:48248c5b8992 | 54 | */ |
chrigelburri | 21:48248c5b8992 | 55 | void parseMessage(uint16_t length, uint8_t * data); |
chrigelburri | 21:48248c5b8992 | 56 | |
chrigelburri | 21:48248c5b8992 | 57 | /** |
chrigelburri | 33:ac39982fd3b2 | 58 | * @brief Connecting to android. |
chrigelburri | 21:48248c5b8992 | 59 | */ |
chrigelburri | 18:306d362d692b | 60 | void connect(); |
chrigelburri | 18:306d362d692b | 61 | |
chrigelburri | 21:48248c5b8992 | 62 | /** |
chrigelburri | 21:48248c5b8992 | 63 | * @brief Gets the desired θ value. |
chrigelburri | 32:767044a3e421 | 64 | * @return the desired θ, given in [°] |
chrigelburri | 21:48248c5b8992 | 65 | */ |
chrigelburri | 19:b2f76b0fe4c8 | 66 | float getDesiredTheta(); |
chrigelburri | 21:48248c5b8992 | 67 | |
chrigelburri | 21:48248c5b8992 | 68 | /** |
chrigelburri | 21:48248c5b8992 | 69 | * @brief Gets the desired X-postition. |
chrigelburri | 21:48248c5b8992 | 70 | * @return the desired X-postition, given in [m] |
chrigelburri | 21:48248c5b8992 | 71 | */ |
chrigelburri | 19:b2f76b0fe4c8 | 72 | float getDesiredX(); |
chrigelburri | 21:48248c5b8992 | 73 | |
chrigelburri | 21:48248c5b8992 | 74 | /** |
chrigelburri | 21:48248c5b8992 | 75 | * @brief Gets the desired Y-postition. |
chrigelburri | 21:48248c5b8992 | 76 | * @return the desired Y-postition, given in [m] |
chrigelburri | 21:48248c5b8992 | 77 | */ |
chrigelburri | 19:b2f76b0fe4c8 | 78 | float getDesiredY(); |
chrigelburri | 19:b2f76b0fe4c8 | 79 | |
chrigelburri | 21:48248c5b8992 | 80 | /** |
chrigelburri | 28:b3e195e80439 | 81 | * @brief Sets the desired θ value. |
chrigelburri | 28:b3e195e80439 | 82 | * @param t desired θ value, given in [°] |
chrigelburri | 28:b3e195e80439 | 83 | */ |
chrigelburri | 28:b3e195e80439 | 84 | void setDesiredTheta(float t); |
chrigelburri | 28:b3e195e80439 | 85 | |
chrigelburri | 28:b3e195e80439 | 86 | /** |
chrigelburri | 21:48248c5b8992 | 87 | * @brief Initialise the ADB subsystem. Open an ADB stream on tcp port 4568. |
chrigelburri | 21:48248c5b8992 | 88 | */ |
chrigelburri | 19:b2f76b0fe4c8 | 89 | void init(); |
chrigelburri | 19:b2f76b0fe4c8 | 90 | |
chrigelburri | 21:48248c5b8992 | 91 | /** |
chrigelburri | 21:48248c5b8992 | 92 | * @brief Write the Parameterlist to the android smartphone. |
chrigelburri | 33:ac39982fd3b2 | 93 | * @param x Acutal X-Position |
chrigelburri | 33:ac39982fd3b2 | 94 | * @param y Acutal Y-Position |
chrigelburri | 33:ac39982fd3b2 | 95 | * @param t Acutal θ-Position |
chrigelburri | 33:ac39982fd3b2 | 96 | * @param state_u Actual State Undervoltage |
chrigelburri | 33:ac39982fd3b2 | 97 | * @param state_l Actual Left State |
chrigelburri | 33:ac39982fd3b2 | 98 | * @param state_r Actual Right State |
chrigelburri | 33:ac39982fd3b2 | 99 | * @param volt_b Actual battery voltage |
chrigelburri | 21:48248c5b8992 | 100 | */ |
chrigelburri | 20:01b233b0e606 | 101 | void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b); |
chrigelburri | 19:b2f76b0fe4c8 | 102 | |
chrigelburri | 18:306d362d692b | 103 | #endif |