Diff: main.h

Revision:

35:a1c14c6d9282

Parent:

34:3066686d5152

Child:

37:1d51cf101b03

--- a/main.h	Wed Dec 10 18:49:45 2014 +0000
+++ b/main.h	Wed Dec 10 19:15:52 2014 +0000
@@ -1,7 +1,6 @@
 /**
  * @file    main.h
- * @brief   Main header file for includes and whatnot 
- *          for the other project files.
+ * @brief   Main header file for includes and defs 
  * @author  John Wilkey
  * @author  Alec Guertin
  * @author  Chester Chu
@@ -16,14 +15,14 @@
 #include <stdarg.h>
 #include <stdio.h>
 #include <math.h>
-#define TURN_SPEED  0.15
-#define DRIVE_SPEED 0.25
-#define ERR_SUCCESS 0
-#define ERR_FAILURE 1
-#define DRIVE_RATE  1/50
-#define TIME_FACT 1780
-#define CAL_SPEED .25
-#define CLOSE_ENOUGH .0008
+
+// Constants used in main.c
+#define TURN_SPEED  0.15    /**< Motor power for turning */
+#define DRIVE_SPEED 0.25    /**< Motor power for drawing/moving */
+#define TIME_FACT 1780      /**< Multiplier for forward() and backward() */
+#define CAL_SPEED .25       /**< Drive speed during calibration */
+#define CLOSE_ENOUGH .0008  /**< Threshold for calibration line centering */
+#define WIGGLE_MAX 15       /**< Max 'wiggles' during calibration */
 
 /** @brief Move the robot from its current position to (x,y) */
 void move(int x, int y, int draw);