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

--- 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