Shuto Naruse / Mbed 2 deprecated Eurobot2012_Primary

Eurobot2012_Primary

Dependencies:   mbed Eurobot_2012_Primary

globals.h@13:57ea4e520dbd, 2012-04-28 (annotated)

Committer:
narshu
Date:
Sat Apr 28 19:39:08 2012 +0000
Revision:
13:57ea4e520dbd
Parent:
10:294b9adbc9d3
Child:
14:24f994dc2770
PID tuned. Modified ai signalling logic at target location.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 0:f3bf6c7e2283 1 #ifndef GLOBALS_H
narshu 0:f3bf6c7e2283 2 #define GLOBALS_H
narshu 0:f3bf6c7e2283 3
narshu 9:377560539b74 4 #include "mbed.h"
narshu 9:377560539b74 5 #define PI 3.14159265
narshu 9:377560539b74 6
narshu 2:cffa347bb943 7 //#define ROBOT_SECONDARY
narshu 2:cffa347bb943 8
narshu 9:377560539b74 9 #ifdef ROBOT_SECONDARY
narshu 5:7ac07bf30707 10 //Secondary Robot constants in mm
narshu 5:7ac07bf30707 11 const int robot_width = 260;
narshu 5:7ac07bf30707 12 const int encoderRevCount = 360;
narshu 5:7ac07bf30707 13 const int wheelmm = 226;
narshu 5:7ac07bf30707 14 const int robotCircumference = 816;
narshu 0:f3bf6c7e2283 15
narshu 5:7ac07bf30707 16
narshu 9:377560539b74 17 #else
narshu 9:377560539b74 18 #define ROBOT_PRIMARY
narshu 9:377560539b74 19 // invert echo polarity for primary
narshu 9:377560539b74 20 #define SONAR_ECHO_INV
narshu 9:377560539b74 21 // Primary Robot constants
narshu 9:377560539b74 22 const int robot_width = 390;
narshu 9:377560539b74 23 const int encoderRevCount = 1856;
narshu 9:377560539b74 24 const int wheelmm = 304;
narshu 9:377560539b74 25 const int robotCircumference = 1150;
narshu 9:377560539b74 26 #endif
narshu 0:f3bf6c7e2283 27
narshu 5:7ac07bf30707 28
narshu 1:bbabbd997d21 29
narshu 1:bbabbd997d21 30 //Robot movement constants
narshu 9:377560539b74 31 const float fwdvarperunit = 0.008; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
narshu 9:377560539b74 32 const float varperang = 0.005; //around 1 degree stddev per 180 turn
narshu 10:294b9adbc9d3 33 const float xyvarpertime = 0;//0.0005; //(very poorly) accounts for hitting things
narshu 10:294b9adbc9d3 34 const float angvarpertime = 0;//0.001;
narshu 1:bbabbd997d21 35
narshu 1:bbabbd997d21 36 //sonar constants
narshu 1:bbabbd997d21 37 static const float sonarvariance = 0.005;
narshu 0:f3bf6c7e2283 38
narshu 9:377560539b74 39 //IR constants
narshu 9:377560539b74 40 static const float IRvariance = 0.001;
narshu 9:377560539b74 41
narshu 0:f3bf6c7e2283 42 //Arena constants
narshu 0:f3bf6c7e2283 43 struct pos {
narshu 0:f3bf6c7e2283 44 int x;
narshu 0:f3bf6c7e2283 45 int y;
narshu 0:f3bf6c7e2283 46 };
narshu 0:f3bf6c7e2283 47 const pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}};
narshu 0:f3bf6c7e2283 48
narshu 1:bbabbd997d21 49 //System constants
narshu 1:bbabbd997d21 50 const int PREDICTPERIOD = 20; //ms
narshu 0:f3bf6c7e2283 51
narshu 0:f3bf6c7e2283 52 //High speed serial port
narshu 0:f3bf6c7e2283 53 extern Serial pc;
narshu 0:f3bf6c7e2283 54
narshu 0:f3bf6c7e2283 55 //I2C mutex
narshu 0:f3bf6c7e2283 56 //extern Mutex i2c_rlock;
narshu 0:f3bf6c7e2283 57 //extern Mutex i2c_wlock;
narshu 0:f3bf6c7e2283 58
narshu 0:f3bf6c7e2283 59
narshu 0:f3bf6c7e2283 60 // IR angle calc
narshu 0:f3bf6c7e2283 61 #define RELI_BOUND_LOW 4
narshu 0:f3bf6c7e2283 62 #define RELI_BOUND_HIGH 25
narshu 0:f3bf6c7e2283 63
narshu 10:294b9adbc9d3 64 // Movement target tolerances
narshu 1:bbabbd997d21 65 #define POSITION_TOR 50
narshu 10:294b9adbc9d3 66 #define ANGLE_TOR 0.1
narshu 0:f3bf6c7e2283 67
narshu 0:f3bf6c7e2283 68 // motion control
narshu 10:294b9adbc9d3 69 #define MOVE_SPEED 30
narshu 0:f3bf6c7e2283 70 #define MAX_STEP_RATIO 0.10 //maximum change in the speed
narshu 0:f3bf6c7e2283 71 //#define TRACK_RATE 10 // +- rate for each wheel when tracking
narshu 0:f3bf6c7e2283 72
narshu 10:294b9adbc9d3 73 #ifdef ROBOT_PRIMARY
narshu 13:57ea4e520dbd 74 #define FWD_MOVE_P 16
narshu 13:57ea4e520dbd 75 #define SPIN_MOVE_P 5.8
narshu 10:294b9adbc9d3 76 #else
narshu 10:294b9adbc9d3 77 #define FWD_MOVE_P 3.2
narshu 10:294b9adbc9d3 78 #define SPIN_MOVE_P 4
narshu 10:294b9adbc9d3 79 #endif
narshu 10:294b9adbc9d3 80
narshu 0:f3bf6c7e2283 81 // Task suspend periods
narshu 0:f3bf6c7e2283 82 #define IR_TURRET_PERIOD 200
narshu 0:f3bf6c7e2283 83 #define MOTION_UPDATE_PERIOD 20
narshu 0:f3bf6c7e2283 84
narshu 0:f3bf6c7e2283 85 #endif