Oskar Weigl / Mbed 2 deprecated Eurobot2013

We are going to win! wohoo

Dependencies:   mbed mbed-rtos

globals.h@9:08552997b544, 2012-11-14 (annotated)

Committer:
madcowswe
Date:
Wed Nov 14 17:15:53 2012 +0000
Revision:
9:08552997b544
Parent:
7:88753d0ad4ca 
Added an important comment

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sv 1:6799c07fe510 1 #ifndef GLOBALS_H
sv 1:6799c07fe510 2 #define GLOBALS_H
sv 1:6799c07fe510 3
madcowswe 7:88753d0ad4ca 4
madcowswe 7:88753d0ad4ca 5 #define ROBOT_PRIMARY
madcowswe 7:88753d0ad4ca 6
madcowswe 7:88753d0ad4ca 7
sv 1:6799c07fe510 8 #include "mbed.h"
sv 1:6799c07fe510 9 #define PI 3.14159265
sv 1:6799c07fe510 10
sv 1:6799c07fe510 11 //enables ui
sv 1:6799c07fe510 12 //#define UION
sv 1:6799c07fe510 13
sv 1:6799c07fe510 14
sv 1:6799c07fe510 15
madcowswe 7:88753d0ad4ca 16 #ifdef ROBOT_PRIMARY
madcowswe 7:88753d0ad4ca 17 // Primary defs go here
sv 1:6799c07fe510 18 #else
madcowswe 7:88753d0ad4ca 19 // Secondary defs go here
sv 1:6799c07fe510 20 #endif
sv 1:6799c07fe510 21
madcowswe 7:88753d0ad4ca 22 //Robot hardware parameters
madcowswe 7:88753d0ad4ca 23 const int robotCircumference = 816; //mm (DUMMY!)
sv 1:6799c07fe510 24
sv 1:6799c07fe510 25 //Robot movement constants
sv 1:6799c07fe510 26 const float fwdvarperunit = 0.01; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
sv 1:6799c07fe510 27 const float varperang = 0.01; //around 1 degree stddev per 180 turn
sv 1:6799c07fe510 28 const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
sv 1:6799c07fe510 29 const float angvarpertime = 0.001;
sv 1:6799c07fe510 30
sv 1:6799c07fe510 31 //sonar constants
sv 1:6799c07fe510 32 static const float sonarvariance = 0.005;
sv 1:6799c07fe510 33
sv 1:6799c07fe510 34 //IR constants
sv 1:6799c07fe510 35 static const float IRvariance = 0.001;
sv 1:6799c07fe510 36
sv 1:6799c07fe510 37 //Arena constants
sv 1:6799c07fe510 38 struct pos {
sv 1:6799c07fe510 39 int x;
sv 1:6799c07fe510 40 int y;
sv 1:6799c07fe510 41 };
sv 1:6799c07fe510 42
sv 1:6799c07fe510 43 //beacon positions
sv 1:6799c07fe510 44 extern pos beaconpos[];
sv 1:6799c07fe510 45
sv 1:6799c07fe510 46 //Colour
sv 1:6799c07fe510 47 extern bool Colour; // 1 for red, 0 for blue
sv 1:6799c07fe510 48
sv 1:6799c07fe510 49 //System constants
sv 1:6799c07fe510 50 const int PREDICTPERIOD = 20; //ms
sv 1:6799c07fe510 51
sv 1:6799c07fe510 52 //High speed serial port
sv 1:6799c07fe510 53 extern Serial pc;
sv 1:6799c07fe510 54
sv 1:6799c07fe510 55
sv 1:6799c07fe510 56 #endif