Diff: globals.h

Revision:

23:1901cb6d0d95

Parent:

22:7ba09c0af0d0

Child:

24:7a3906c2f5d5

--- a/globals.h	Thu May 03 14:20:04 2012 +0000
+++ b/globals.h	Fri May 04 02:50:07 2012 +0000
@@ -6,8 +6,6 @@
 
 
 //#define ROBOT_SECONDARY
-//#define STARTLOC_RED
-#define STARTLOC_BLUE
 
 //enables ui
 //#define UION
@@ -51,14 +49,11 @@
     int y;
 };
 
-// Red start
-#ifdef STARTLOC_RED
-const pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}};
+//beacon positions
+extern pos beaconpos[];
 
-// Blue Start
-#else
-const pos beaconpos[] = {{0, 1000},{3000,0}, {3000,2000}};
-#endif
+//Colour
+extern bool Colour; // 1 for red, 0 for blue
 
 //System constants
 const int PREDICTPERIOD = 20; //ms
@@ -76,11 +71,11 @@
 #define RELI_BOUND_HIGH         25
 
 // Movement target tolerances
-#define POSITION_TOR            30  // in mm
-#define ANGLE_TOR               0.1 // in rad
+#define POSITION_TOR            40  // in mm
+#define ANGLE_TOR               0.06 // in rad
 
 // motion control
-#define MOVE_SPEED              20
+#define MOVE_SPEED              35
 #define MAX_STEP_RATIO          0.10 //maximum change in the speed
 //#define TRACK_RATE              10       // +- rate for each wheel when tracking