Christian Burri / Mbed 2 deprecated autonomous Robot Android

This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ 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: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

Diff: defines.h

Revision:
34:62996eed658a
Parent:
31:abfaef28d16d
Child:
37:fd68b9e0be08
--- 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