Diff: PROJ515.hpp

Revision:

13:78b9acd2e873

Parent:

12:1a3272d67500

Child:

14:b972d0d0f63d

Child:

15:d23cd07d24c0

--- a/PROJ515.hpp	Thu May 09 18:37:25 2019 +0000
+++ b/PROJ515.hpp	Sat May 11 17:52:33 2019 +0000
@@ -37,11 +37,11 @@
 #define GPS_RX    PD_6              // GPS Recieve  Pin
 
 #define FOV       1.396             // Ultrasound sensor field of view
-#define MIN_RANGE 0.2               // Ultrasound sensor min range
-#define MAX_RANGE 2.5               // Ultrasound sensor max range
-#define CLIFF_TRH 0.1               // Robot cliff treshold
+#define MIN_RANGE 0.025             // Ultrasound sensor min range
+#define MAX_RANGE 2.2               // Ultrasound sensor max range
+#define CLIFF_TRH 0.12              // Robot cliff treshold
 #define CLIFF_ZRO 0                 // Cliff not existent
-#define EXCL_ZONE 0.255             // Robot footprint exclusion zone
+#define EXCL_ZONE 0.15              // Robot footprint exclusion zone
 #define ULTRASOUND 0x00             // Ultrasound
 
 #define UNAGUMENTED  0x00           // Unagumented