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

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Data Structures

Data Structures

Here are the data structures with brief descriptions:
HallsensorInterface to count the Hallsensor input from an EC-Motor
MaxonESCONThis class implements the driver for the Maxon ESCON servo driver. For more information see the Datasheet: http://escon.maxonmotor.com
MotionStateThis help class is for calculate and save the actual or desired value. There have the setter and the getter methode to change the value
RobotControlThis class controls the position of the robot. It has a run loop that is called periodically. This run loop reads the actual positions of the wheels, calculates the actual position and orientation of the robot, calculates to move the robot and writes these velocity values to the motor servo drives. This class offers methods to enable or disable the controller, and to set the desired x- and y-postion and the values of the robot
stateStruct state structure containing system sensor data
StateState is the main mechanism for communicating current realtime system state to the rest of the system for logging etc
TaskThe Task class allows to install periodic, time-triggered tasks. An example of a simple user-defined task is given below: