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
Diff: main.cpp
- Revision:
- 34:62996eed658a
- Parent:
- 33:ac39982fd3b2
- Child:
- 36:4226e50a0bcd
diff -r ac39982fd3b2 -r 62996eed658a main.cpp --- a/main.cpp Tue May 21 17:42:50 2013 +0000 +++ b/main.cpp Sat May 25 05:44:14 2013 +0000 @@ -113,13 +113,13 @@ { /** - * Check at first the Battery voltage. Starts when the voltage + * Check at first the Battery voltage. Starts when the voltage * is greater than the min is. * start the timer for the Logging to the file * and start the Task for logging. **/ state.start(); - + while(s.voltageBattery < BAT_MIN) { for (float f = 0.1f; f < 6.3f; f += 0.1f) { for(int i = 0; i <= 3; i ++) { @@ -144,7 +144,7 @@ state.initPlotFile(); state.startTimerFromZero(); robotControl.start(); - +/* /** * Clear all Errors of the ESCON Module, with a disabled to enable event. */ @@ -198,14 +198,14 @@ robotControl.getyActualPosition(), robotControl.getActualTheta()); robotControl.stop(); - state.savePlotFile(s); leftMotor.setVelocity(0.0f); rightMotor.setVelocity(0.0f); + wait(2); + /** * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm. */ - state.savePlotFile(s); state.closePlotFile(); state.stop(); robotControl.setEnable(false); @@ -230,5 +230,4 @@ } wait(0.05); } - }