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

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state Struct Reference
Data Fields

state Struct Reference

struct state structure containing system sensor data More...

#include <defines.h>

Data Fields

int millis
 millis Time [ms]
float voltageBattery
 Battery voltage [V].
int leftPulses
 Number of pulses left.
int rightPulses
 Number of pulses right.
float leftVelocity
 Velocity left [m/s].
float rightVelocity
 Velocity right [m/s].
float velocity
 Velocity of the car [m/s].
float omega
 Velocity rotation [°/s].
float xAxis
 X-Axis from co-ordinate [m].
float yAxis
 Y-Axis from co-ordinate [m].
float xAxisError
 X-Axis Error [m].
float yAxisError
 X-Axis Error [m].
float angleError
 Angle Error [°].
float angle
 Angle from Car [°].
float setxAxis
 Setpoint X-Axis [m].
float setyAxis
 Setpoint Y-Axis [m].
float setAngle
 Setpoint Angel [°].
float setVelocity
 Setpoint velocitiy [m/s].
float setOmega
 Setpoint rotation velocitiy [rad/s].
int state
 State of the car.
float rho
 distance to Goal
float lamda
 theta to goal
float delta
 theta from the goal

Detailed Description

struct state structure containing system sensor data

Definition at line 204 of file defines.h.

Field Documentation

float angle

Angle from Car [°].

Definition at line 232 of file defines.h.

float angleError

Angle Error [°].

Definition at line 230 of file defines.h.

float delta

theta from the goal

Definition at line 250 of file defines.h.

float lamda

theta to goal

Definition at line 248 of file defines.h.

int leftPulses

Number of pulses left.

Definition at line 210 of file defines.h.

float leftVelocity

Velocity left [m/s].

Definition at line 214 of file defines.h.

int millis

millis Time [ms]

Definition at line 206 of file defines.h.

float omega

Velocity rotation [°/s].

Definition at line 220 of file defines.h.

float rho

distance to Goal

Definition at line 246 of file defines.h.

int rightPulses

Number of pulses right.

Definition at line 212 of file defines.h.

float rightVelocity

Velocity right [m/s].

Definition at line 216 of file defines.h.

float setAngle

Setpoint Angel [°].

Definition at line 238 of file defines.h.

float setOmega

Setpoint rotation velocitiy [rad/s].

Definition at line 242 of file defines.h.

float setVelocity

Setpoint velocitiy [m/s].

Definition at line 240 of file defines.h.

float setxAxis

Setpoint X-Axis [m].

Definition at line 234 of file defines.h.

float setyAxis

Setpoint Y-Axis [m].

Definition at line 236 of file defines.h.

int state

State of the car.

Definition at line 244 of file defines.h.

float velocity

Velocity of the car [m/s].

Definition at line 218 of file defines.h.

float voltageBattery

Battery voltage [V].

Definition at line 208 of file defines.h.

float xAxis

X-Axis from co-ordinate [m].

Definition at line 222 of file defines.h.

float xAxisError

X-Axis Error [m].

Definition at line 226 of file defines.h.

float yAxis

Y-Axis from co-ordinate [m].

Definition at line 224 of file defines.h.

float yAxisError

X-Axis Error [m].

Definition at line 228 of file defines.h.

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