Diff: globals.h

Revision:

3:8c78c15a92e3

Parent:

1:6799c07fe510

--- a/globals.h	Wed Nov 07 14:41:49 2012 +0000
+++ b/globals.h	Wed Nov 14 15:48:20 2012 +0000
@@ -5,95 +5,14 @@
 #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;
+#define ROBOT_PRIMARY
 
 
+#ifdef ROBOT_PRIMARY
+// Secondary defs go here
 #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;
+// Primary defs go here
 #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