Diff: common.h

Revision:

20:e73f49ba5001

Parent:

19:2fe650d29823

Child:

22:14e85f2068c7

--- a/common.h	Sun Feb 24 11:02:56 2019 +0000
+++ b/common.h	Sat Mar 23 16:38:44 2019 +0000
@@ -26,17 +26,26 @@
     float azimuth; // rad [-pi;+pi]
     float speed; //m/s
     float path; //m
-    float omega; //rad/s    
+    float omega; //rad/s  
+    float accel;  
+    float eps;
+    bool dir;
 };
 
 coord current;
 coord target;
+coord delta;//odin raz i vse (v analize obstacle)
+coord max;
+coord theor;
 
-float balance_prop = 1.5;
+//smotri da,max v system.h
+float da;
+
+float balance_prop = 1.2;
 float balance_diff = 7;
-float x_prop = 45;//45;
-float x_diff = 45;//37;
-float azimuth_prop = 40;//50;
+float x_prop = 55;//45;
+float x_diff = 55;//50;
+float azimuth_prop = 40;
 float azimuth_diff = 10;//15;
 
 float coord_accuracy = 0.15;
@@ -53,6 +62,8 @@
 int fall_timer;
 int motion_timeout;
 int motion_mode;
-#define stop 0;
-#define go 1;
-#define rotate 2;
+#define STOP 0
+#define GO 2
+#define ROTATE 1
+
+