Diff: globals.h

Revision:

1:6799c07fe510

Child:

3:8c78c15a92e3

Child:

7:88753d0ad4ca

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/globals.h	Wed Nov 07 14:37:35 2012 +0000
@@ -0,0 +1,99 @@
+#ifndef GLOBALS_H
+#define GLOBALS_H
+
+#include "mbed.h"
+#define PI 3.14159265
+
+
+//#define ROBOT_SECONDARY
+
+//enables ui
+//#define UION
+
+#ifdef ROBOT_SECONDARY
+//Secondary Robot constants in mm
+const int robot_width = 260;
+const int encoderRevCount = 360;
+const int wheelmm = 229;
+const int robotCircumference = 816;
+
+
+#else
+#define ROBOT_PRIMARY
+// invert echo polarity for primary
+#define SONAR_ECHO_INV
+// Primary Robot constants
+const int robot_width = 390;
+const int encoderRevCount = 1856;
+const int wheelmm = 308;
+const int robotCircumference = 1150;
+#endif
+
+
+
+//Robot movement constants
+const float fwdvarperunit = 0.01; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
+const float varperang = 0.01; //around 1 degree stddev per 180 turn
+const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
+const float angvarpertime = 0.001;
+
+//sonar constants
+static const float sonarvariance = 0.005;
+
+//IR constants
+static const float IRvariance = 0.001;
+
+//Arena constants
+struct pos {
+    int x;
+    int y;
+};
+
+//beacon positions
+extern pos beaconpos[];
+
+//Colour
+extern bool Colour; // 1 for red, 0 for blue
+
+//System constants
+const int PREDICTPERIOD = 20; //ms
+
+//High speed serial port
+extern Serial pc;
+
+//I2C mutex
+//extern Mutex i2c_rlock;
+//extern Mutex i2c_wlock;
+
+
+// IR angle calc
+#define RELI_BOUND_LOW          4
+#define RELI_BOUND_HIGH         25
+
+// Movement target tolerances
+#define POSITION_TOR            20  // in mm
+#define ANGLE_TOR               0.06 // in rad
+
+// motion control
+
+#ifndef MOVE_SPEED_DEF
+#define MOVE_SPEED_DEF
+static int MOVE_SPEED = 35;
+#endif
+
+#define MAX_STEP_RATIO          0.10 //maximum change in the speed
+//#define TRACK_RATE              10       // +- rate for each wheel when tracking
+
+#ifdef ROBOT_PRIMARY
+#define FWD_MOVE_P 20//18
+#define SPIN_MOVE_P 7//5.8
+#else
+#define FWD_MOVE_P 3.2
+#define SPIN_MOVE_P 4
+#endif
+
+// Task suspend periods
+#define IR_TURRET_PERIOD        200
+#define MOTION_UPDATE_PERIOD    20
+
+#endif
\ No newline at end of file