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: defines.h
- Revision:
- 34:62996eed658a
- Parent:
- 31:abfaef28d16d
- Child:
- 37:fd68b9e0be08
diff -r ac39982fd3b2 -r 62996eed658a defines.h --- a/defines.h Tue May 21 17:42:50 2013 +0000 +++ b/defines.h Sat May 25 05:44:14 2013 +0000 @@ -57,17 +57,17 @@ /** * @brief Distance of the wheel, given in [m] Greater --> turn more */ -#define WHEEL_DISTANCE 0.1721f // org.0.17500f alt: 0.173f +#define WHEEL_DISTANCE (0.1700f-0.001f) // org.0.17500f alt: 0.173f //(0.1700f-0.004f) immer zu weit links (0.1700f-0.006f) war mal gut aber jetz zu weit rechts /** * @brief Sets the start X-point, given in [m] */ -#define START_X_OFFSET -0.8f +#define START_X_OFFSET -0.850f//-0.8f /** * @brief Sets the start Y-point, given in [m] */ -#define START_Y_OFFSET 0.8f +#define START_Y_OFFSET 0.775f//0.8f /*! @} */ /** @@ -193,24 +193,9 @@ /** * @brief 10Hz Rate for the Android communication , given in [s] */ -#define PERIOD_ANDROID 0.025f +#define PERIOD_ANDROID (0.025f*2) /*! @} */ -/** - * @name Android Buffer Size for communication - * @{ - */ - -/** - * @brief Buffer Output - */ -#define OUTL 100 - -/** - * @brief Buffer Input - */ -#define INBL 100 -/*! @} */ /** * @brief struct state