File content as of revision 9:08552997b544:

#ifndef GLOBALS_H
#define GLOBALS_H


#define ROBOT_PRIMARY


#include "mbed.h"
#define PI 3.14159265

//enables ui
//#define UION



#ifdef ROBOT_PRIMARY
// Primary defs go here
#else
// Secondary defs go here
#endif

//Robot hardware parameters
const int robotCircumference = 816; //mm (DUMMY!)

//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;


#endif