Oskar Weigl / Mbed 2 deprecated Eurobot2013

We are going to win! wohoo

Dependencies:   mbed mbed-rtos

globals.h@1:6799c07fe510, 2012-11-07 (annotated)

Committer:
sv
Date:
Wed Nov 07 14:37:35 2012 +0000
Revision:
1:6799c07fe510
Child:
3:8c78c15a92e3
Child:
7:88753d0ad4ca
Preliminary copy of 2012 code

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
sv 1:6799c07fe510 4 #include "mbed.h"
sv 1:6799c07fe510 5 #define PI 3.14159265
sv 1:6799c07fe510 6
sv 1:6799c07fe510 7
sv 1:6799c07fe510 8 //#define ROBOT_SECONDARY
sv 1:6799c07fe510 9
sv 1:6799c07fe510 10 //enables ui
sv 1:6799c07fe510 11 //#define UION
sv 1:6799c07fe510 12
sv 1:6799c07fe510 13 #ifdef ROBOT_SECONDARY
sv 1:6799c07fe510 14 //Secondary Robot constants in mm
sv 1:6799c07fe510 15 const int robot_width = 260;
sv 1:6799c07fe510 16 const int encoderRevCount = 360;
sv 1:6799c07fe510 17 const int wheelmm = 229;
sv 1:6799c07fe510 18 const int robotCircumference = 816;
sv 1:6799c07fe510 19
sv 1:6799c07fe510 20
sv 1:6799c07fe510 21 #else
sv 1:6799c07fe510 22 #define ROBOT_PRIMARY
sv 1:6799c07fe510 23 // invert echo polarity for primary
sv 1:6799c07fe510 24 #define SONAR_ECHO_INV
sv 1:6799c07fe510 25 // Primary Robot constants
sv 1:6799c07fe510 26 const int robot_width = 390;
sv 1:6799c07fe510 27 const int encoderRevCount = 1856;
sv 1:6799c07fe510 28 const int wheelmm = 308;
sv 1:6799c07fe510 29 const int robotCircumference = 1150;
sv 1:6799c07fe510 30 #endif
sv 1:6799c07fe510 31
sv 1:6799c07fe510 32
sv 1:6799c07fe510 33
sv 1:6799c07fe510 34 //Robot movement constants
sv 1:6799c07fe510 35 const float fwdvarperunit = 0.01; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
sv 1:6799c07fe510 36 const float varperang = 0.01; //around 1 degree stddev per 180 turn
sv 1:6799c07fe510 37 const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
sv 1:6799c07fe510 38 const float angvarpertime = 0.001;
sv 1:6799c07fe510 39
sv 1:6799c07fe510 40 //sonar constants
sv 1:6799c07fe510 41 static const float sonarvariance = 0.005;
sv 1:6799c07fe510 42
sv 1:6799c07fe510 43 //IR constants
sv 1:6799c07fe510 44 static const float IRvariance = 0.001;
sv 1:6799c07fe510 45
sv 1:6799c07fe510 46 //Arena constants
sv 1:6799c07fe510 47 struct pos {
sv 1:6799c07fe510 48 int x;
sv 1:6799c07fe510 49 int y;
sv 1:6799c07fe510 50 };
sv 1:6799c07fe510 51
sv 1:6799c07fe510 52 //beacon positions
sv 1:6799c07fe510 53 extern pos beaconpos[];
sv 1:6799c07fe510 54
sv 1:6799c07fe510 55 //Colour
sv 1:6799c07fe510 56 extern bool Colour; // 1 for red, 0 for blue
sv 1:6799c07fe510 57
sv 1:6799c07fe510 58 //System constants
sv 1:6799c07fe510 59 const int PREDICTPERIOD = 20; //ms
sv 1:6799c07fe510 60
sv 1:6799c07fe510 61 //High speed serial port
sv 1:6799c07fe510 62 extern Serial pc;
sv 1:6799c07fe510 63
sv 1:6799c07fe510 64 //I2C mutex
sv 1:6799c07fe510 65 //extern Mutex i2c_rlock;
sv 1:6799c07fe510 66 //extern Mutex i2c_wlock;
sv 1:6799c07fe510 67
sv 1:6799c07fe510 68
sv 1:6799c07fe510 69 // IR angle calc
sv 1:6799c07fe510 70 #define RELI_BOUND_LOW 4
sv 1:6799c07fe510 71 #define RELI_BOUND_HIGH 25
sv 1:6799c07fe510 72
sv 1:6799c07fe510 73 // Movement target tolerances
sv 1:6799c07fe510 74 #define POSITION_TOR 20 // in mm
sv 1:6799c07fe510 75 #define ANGLE_TOR 0.06 // in rad
sv 1:6799c07fe510 76
sv 1:6799c07fe510 77 // motion control
sv 1:6799c07fe510 78
sv 1:6799c07fe510 79 #ifndef MOVE_SPEED_DEF
sv 1:6799c07fe510 80 #define MOVE_SPEED_DEF
sv 1:6799c07fe510 81 static int MOVE_SPEED = 35;
sv 1:6799c07fe510 82 #endif
sv 1:6799c07fe510 83
sv 1:6799c07fe510 84 #define MAX_STEP_RATIO 0.10 //maximum change in the speed
sv 1:6799c07fe510 85 //#define TRACK_RATE 10 // +- rate for each wheel when tracking
sv 1:6799c07fe510 86
sv 1:6799c07fe510 87 #ifdef ROBOT_PRIMARY
sv 1:6799c07fe510 88 #define FWD_MOVE_P 20//18
sv 1:6799c07fe510 89 #define SPIN_MOVE_P 7//5.8
sv 1:6799c07fe510 90 #else
sv 1:6799c07fe510 91 #define FWD_MOVE_P 3.2
sv 1:6799c07fe510 92 #define SPIN_MOVE_P 4
sv 1:6799c07fe510 93 #endif
sv 1:6799c07fe510 94
sv 1:6799c07fe510 95 // Task suspend periods
sv 1:6799c07fe510 96 #define IR_TURRET_PERIOD 200
sv 1:6799c07fe510 97 #define MOTION_UPDATE_PERIOD 20
sv 1:6799c07fe510 98
sv 1:6799c07fe510 99 #endif