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:
- 17:f0a973f17917
diff -r b5d949136a21 -r f0a973f17917 MicroBridge/androidADB.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MicroBridge/androidADB.h Fri May 03 06:30:46 2013 +0000 @@ -0,0 +1,47 @@ +//#ifndef _ANDROIDADB_H_ +//#define _ANDROIDADB_H_ + +//#include "mbed.h" +#include "Adb.h" +//#include "define.h" + +#include <string> +#include <sstream> +#include <vector> +#include <iostream> +#include <stdlib.h> + +Connection * connection; + +//Serial pc(USBTX, USBRX); + + +/** @brief Desired position in meters for x-coordinate, given by android */ +float androidx; + +/** @brief Desired position in meters for y-coordinate, given by android */ +float androidy; + +/** @brief Desired position in degrees for theta, given by android */ +float androidtheta; + +/** @brief Indicates if a ADB connection to a android phone is established */ +boolean androidConnected = false; + +/** + * @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); + +void connect(); + +void init(); + +//#endif \ No newline at end of file