Shuto Naruse / Mbed 2 deprecated Eurobot2012_Primary

Eurobot2012_Primary

Dependencies:   mbed Eurobot_2012_Primary

globals.h@1:bbabbd997d21, 2012-04-20 (annotated)

Committer:
narshu
Date:
Fri Apr 20 21:56:15 2012 +0000
Revision:
1:bbabbd997d21
Parent:
0:f3bf6c7e2283
Child:
2:cffa347bb943
copied everything from secondary;

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 0:f3bf6c7e2283 4 #include "mbed.h"
narshu 0:f3bf6c7e2283 5
narshu 0:f3bf6c7e2283 6 #define PI 3.14159265
narshu 0:f3bf6c7e2283 7
narshu 0:f3bf6c7e2283 8 //Robot constants
narshu 1:bbabbd997d21 9 const int robot_width = 395;
narshu 1:bbabbd997d21 10 const int encoderRevCount = 1856;
narshu 1:bbabbd997d21 11 const int wheelmm = 314;
narshu 1:bbabbd997d21 12 const int robotCircumference = 1256;
narshu 0:f3bf6c7e2283 13
narshu 0:f3bf6c7e2283 14 //Robot constants in mm
narshu 1:bbabbd997d21 15 //const int robot_width = 260;
narshu 1:bbabbd997d21 16 //const int encoderRevCount = 360;
narshu 1:bbabbd997d21 17 //const int wheelmm = 226;
narshu 1:bbabbd997d21 18 //const int robotCircumference = 816;
narshu 1:bbabbd997d21 19
narshu 1:bbabbd997d21 20 //Robot movement constants
narshu 1:bbabbd997d21 21 const float fwdvarperunit = 0.005; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
narshu 1:bbabbd997d21 22 const float varperang = 3E-5; //around 1 degree stddev per 180 turn
narshu 1:bbabbd997d21 23 const float xyvarpertime = 0.001; //(very poorly) accounts for hitting things
narshu 1:bbabbd997d21 24 const float angvarpertime = 0.001;
narshu 1:bbabbd997d21 25
narshu 1:bbabbd997d21 26 //sonar constants
narshu 1:bbabbd997d21 27 static const float sonarvariance = 0.005;
narshu 0:f3bf6c7e2283 28
narshu 0:f3bf6c7e2283 29 //Arena constants
narshu 0:f3bf6c7e2283 30 struct pos {
narshu 0:f3bf6c7e2283 31 int x;
narshu 0:f3bf6c7e2283 32 int y;
narshu 0:f3bf6c7e2283 33 };
narshu 0:f3bf6c7e2283 34 const pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}};
narshu 0:f3bf6c7e2283 35
narshu 1:bbabbd997d21 36 //System constants
narshu 1:bbabbd997d21 37 const int PREDICTPERIOD = 20; //ms
narshu 0:f3bf6c7e2283 38
narshu 0:f3bf6c7e2283 39 //High speed serial port
narshu 0:f3bf6c7e2283 40 extern Serial pc;
narshu 0:f3bf6c7e2283 41
narshu 0:f3bf6c7e2283 42 //I2C mutex
narshu 0:f3bf6c7e2283 43 //extern Mutex i2c_rlock;
narshu 0:f3bf6c7e2283 44 //extern Mutex i2c_wlock;
narshu 0:f3bf6c7e2283 45
narshu 0:f3bf6c7e2283 46
narshu 0:f3bf6c7e2283 47 // IR angle calc
narshu 0:f3bf6c7e2283 48 #define RELI_BOUND_LOW 4
narshu 0:f3bf6c7e2283 49 #define RELI_BOUND_HIGH 25
narshu 0:f3bf6c7e2283 50
narshu 1:bbabbd997d21 51 // Localization estimate tolerences
narshu 1:bbabbd997d21 52 #define POSITION_TOR 50
narshu 0:f3bf6c7e2283 53 #define ANGLE_TOR 0.15
narshu 0:f3bf6c7e2283 54
narshu 0:f3bf6c7e2283 55 // motion control
narshu 1:bbabbd997d21 56 #define MOVE_SPEED 30
narshu 0:f3bf6c7e2283 57 #define MAX_STEP_RATIO 0.10 //maximum change in the speed
narshu 0:f3bf6c7e2283 58 //#define TRACK_RATE 10 // +- rate for each wheel when tracking
narshu 0:f3bf6c7e2283 59
narshu 0:f3bf6c7e2283 60 // Task suspend periods
narshu 0:f3bf6c7e2283 61 #define IR_TURRET_PERIOD 200
narshu 0:f3bf6c7e2283 62 #define MOTION_UPDATE_PERIOD 20
narshu 0:f3bf6c7e2283 63
narshu 0:f3bf6c7e2283 64 #endif