File content as of revision 8:31d4dd20cfc0:

#ifndef UAGV_CORE_CONFIG_H_
#define UAGV_CORE_CONFIG_H_

#include <math.h>

#include <ros.h>
#include <ros/time.h>
#include <std_msgs/Bool.h>
#include <std_msgs/Empty.h>
#include <std_msgs/UInt8.h>
#include <geometry_msgs/Twist.h>

#define CMD_VEL_PUBLISH_PERIOD           20.0   //hz
#define DRIVE_INFORMATION_PUBLISH_PERIOD 30.0   //hz

#define WHEEL_RADIUS                    0.09           // meter
#define WHEEL_SEPARATION                0.46           // meter (BURGER => 0.16, WAFFLE => 0.287)
#define ROBOT_RADIUS                    0.294           // meter (BURGER => 0.078, WAFFLE => 0.294)
#define ENCODER_MIN                     -2147483648     // raw
#define ENCODER_MAX                     2147483648      // raw

#define LEFT                            0
#define RIGHT                           1

#define VELOCITY_CONSTANT_VALUE         1263.632956882  // V = r * w = r * RPM * 0.10472
//   = 0.033 * 0.229 * Goal RPM * 0.10472
// Goal RPM = V * 1263.632956882

#define MAX_LINEAR_VELOCITY             0.22   // m/s
#define MAX_ANGULAR_VELOCITY            2.84   // rad/s
#define VELOCITY_STEP                   0.01   // m/s
#define VELOCITY_LINEAR_X               0.01   // m/s
#define VELOCITY_ANGULAR_Z              0.1    // rad/s
#define SCALE_VELOCITY_LINEAR_X         1
#define SCALE_VELOCITY_ANGULAR_Z        1

#define TICK2RAD                        0.000628318  // 2 * 3.14159265359 / 10000 = 0.000628318f

#define DEG2RAD(x)                      (x * 0.01745329252)  // *PI/180
#define RAD2DEG(x)                      (x * 57.2957795131)  // *180/PI

#define TEST_DISTANCE                   0.300     // meter
#define TEST_RADIAN                     3.14      // 180 degree

#define WAIT_FOR_BUTTON_PRESS           0
#define WAIT_SECOND                     1
#define CHECK_BUTTON_RELEASED           2

void commandVelocityCallback(const geometry_msgs::Twist& cmd_vel_msg);
void liftCmdCallback(const std_msgs::UInt8& lift_cmd_msg);
void Driving_Right(int rightOutPut);
void Driving_Left(int leftOutPut);
void controlMotorSpeed(float goalLinearVel, float goalAngularVel);

#endif // UAGV_CORE_CONFIG_H_