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>
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Diff: MicroBridge/androidADB.h
- Revision:
- 21:48248c5b8992
- Parent:
- 20:01b233b0e606
- Child:
- 27:a13ede88e75f
diff -r 01b233b0e606 -r 48248c5b8992 MicroBridge/androidADB.h --- a/MicroBridge/androidADB.h Fri May 03 14:39:24 2013 +0000 +++ b/MicroBridge/androidADB.h Fri May 17 06:39:44 2013 +0000 @@ -13,27 +13,66 @@ #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 - */ +* @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 = " "); - - void parseMessage(uint16_t length, uint8_t * data); - + +/** +* @brief @todo +* @param length +* @param data +*/ +void parseMessage(uint16_t length, uint8_t * data); + +/** +* @brief @todo +* Connecting to android. +*/ void connect(); +/** +* @brief Gets the desired θ value. +* @return the desired θ, given in [°] GRad oder rad?????????????????? +*/ 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 Initialise the ADB subsystem. Open an ADB stream on tcp port 4568. +*/ void init(); +/** +* @brief @todo +* @param str +*/ void write2Android(char str [32]); +/** +* @brief Write the Parameterlist to the android smartphone. +* @param x +* @param y +* @param t +* @param state_u +* @param state_r +* @param volt_b +*/ void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b); #endif \ No newline at end of file