This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Diff: globals.h
- Revision:
- 31:ada943ecaceb
- Parent:
- 28:4e20b44251c6
- Child:
- 32:e3f633620816
--- a/globals.h Wed Apr 10 14:34:07 2013 +0000 +++ b/globals.h Wed Apr 10 18:04:47 2013 +0000 @@ -10,13 +10,13 @@ const float ENCODER_M_PER_TICK = 0.00084; const float ENCODER_WHEELBASE = 0.068; -const float TURRET_FWD_PLACEMENT = 0.042; +const float TURRET_FWD_PLACEMENT = -0.042; //Robot movement constants const float fwdvarperunit = 0.01; //1 std dev = 7% //TODO: measrue this!! -const float varperang = 0.01; //around 1 degree stddev per 180 turn //TODO: measrue this!! -const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things -const float angvarpertime = 0.001; +const float varperang = 0.0002; //around 1 degree stddev per 180 turn //TODO: measrue this!! +const float xyvarpertime = 0;//0.0005; //(very poorly) accounts for hitting things +const float angvarpertime = 0;//0.001; const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this const float MOTOR_MAX_POWER = 0.4f; @@ -60,6 +60,7 @@ const PinName P_SERIAL_RX = p14; const PinName P_DISTANCE_SENSOR = p15; +const PinName P_FWD_DISTANCE_SENSOR = p16; const PinName P_COLOR_SENSOR_IN = p20;