File content as of revision 0:caa8ee3bd882:

/**
 * Reference signals
 */
namespace ref
{
const double kSampleTime = 0.01;
const double kCalibrationOmega = 20; // [deg/sec]
const double kCalibrationError = 1;
const double kCalibrationOmegaStep = kCalibrationOmega*kSampleTime;

const double kMinX = 0.290;
const double kMaxX = 0.600;

const double kMinY = -0.140;
const double kMaxY =  0.190;

const double kOriginTheta1 = robot::InverseKinematicsTheta(kMinX,kMinY,1);
const double kOriginTheta2 = robot::InverseKinematicsTheta(kMinX,kMinY,2);

const double kMaxSpeed = 0.05;// [m/s]
const double kMaxStep = kMaxSpeed*kSampleTime;

int i_demo_coord = 0;
const int kNumDemoCoords = 9;
const double kDemoCoords[2][kNumDemoCoords]  {
    {kMinX, kMaxX, kMaxX, kMinX, kMinX, kMaxX, kMaxX, kMinX, kMinX},
    {kMinY, kMinY, kMaxY, kMaxY, kMinY, kMaxY, kMinY, kMaxY, kMaxY}
    };

double theta_1 = 0;
double theta_2 = 0;

double get_ref_x();
double get_ref_y();



void SetPositionAsReference();

void UpdateReference();

void CalibrationReference();
void HomingReference();
void DemoReference();
}