Q
Dependencies: SRF05 ros_lib_kinetic TinyGPSPlus
Revision 15:d23cd07d24c0, committed 2019-05-14
- Comitter:
- Luka_Danilovic
- Date:
- Tue May 14 15:44:25 2019 +0000
- Parent:
- 13:78b9acd2e873
- Commit message:
- 4 curb sensors ; new max range at 0.4m; cb1 and cb2 swaped to match urdf
Changed in this revision
PROJ515.hpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 78b9acd2e873 -r d23cd07d24c0 PROJ515.hpp --- a/PROJ515.hpp Sat May 11 17:52:33 2019 +0000 +++ b/PROJ515.hpp Tue May 14 15:44:25 2019 +0000 @@ -24,10 +24,10 @@ #define USP_CF4T PG_1 // Cliff ultrasound 4 Trigger #define USP_CF4E PB_11 // Cliff ultrasound 4 Echo -#define USP_CB1T PE_4 // Curb ultrasound 1 Trigger -#define USP_CB1E PG_9 // Curb ultrasound 1 Echo -#define USP_CB2T PE_2 // Curb ultrasound 2 Trigger -#define USP_CB2E PG_14 // Curb ultrasound 2 Echo +#define USP_CB1T PE_2 // Curb ultrasound 1 Trigger +#define USP_CB1E PG_14 // Curb ultrasound 1 Echo +#define USP_CB2T PE_4 // Curb ultrasound 2 Trigger +#define USP_CB2E PG_9 // Curb ultrasound 2 Echo #define USP_CB3T PE_6 // Curb ultrasound 3 Trigger #define USP_CB3E PE_7 // Curb ultrasound 3 Echo #define USP_CB4T PE_5 // Curb ultrasound 4 Trigger @@ -38,7 +38,7 @@ #define FOV 1.396 // Ultrasound sensor field of view #define MIN_RANGE 0.025 // Ultrasound sensor min range -#define MAX_RANGE 2.2 // Ultrasound sensor max range +#define MAX_RANGE 0.4 // Ultrasound sensor max range #define CLIFF_TRH 0.12 // Robot cliff treshold #define CLIFF_ZRO 0 // Cliff not existent #define EXCL_ZONE 0.15 // Robot footprint exclusion zone