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:
- 21:48248c5b8992
- Parent:
- 20:01b233b0e606
- Child:
- 27:a13ede88e75f
diff -r 01b233b0e606 -r 48248c5b8992 MicroBridge/androidADB.cpp
--- a/MicroBridge/androidADB.cpp Fri May 03 14:39:24 2013 +0000
+++ b/MicroBridge/androidADB.cpp Fri May 17 06:39:44 2013 +0000
@@ -10,7 +10,7 @@
float androidy;
/** @brief Desired position in degrees for theta, given by android */
-float androidt;
+float androidt /*= (2 * PI) + 1*/;
/** @brief Indicates if a ADB connection to a android phone is established */
boolean androidConnected;
@@ -87,6 +87,7 @@
androidx = ::atof(tokens.at(0).c_str());
androidy = ::atof(tokens.at(1).c_str());
androidt = ::atof(tokens.at(2).c_str());
+
printf("Android x(%d): %f\n\r\n",length,androidx);
printf("Android y(%d): %f\n\r\n",length,androidy);
@@ -122,7 +123,7 @@
}
}
-
+//////// Brachts dies noch?????????
void write2Android(char str [32])
{
connection->write(sizeof(str),(unsigned char*)&str);