Diff: globals.h

Revision:

10:294b9adbc9d3

Parent:

9:377560539b74

Child:

13:57ea4e520dbd

--- a/globals.h	Sat Apr 28 17:21:24 2012 +0000
+++ b/globals.h	Sat Apr 28 18:10:55 2012 +0000
@@ -30,8 +30,8 @@
 //Robot movement constants
 const float fwdvarperunit = 0.008; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
 const float varperang = 0.005; //around 1 degree stddev per 180 turn
-const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
-const float angvarpertime = 0.001;
+const float xyvarpertime = 0;//0.0005; //(very poorly) accounts for hitting things
+const float angvarpertime = 0;//0.001;
 
 //sonar constants
 static const float sonarvariance = 0.005;
@@ -61,15 +61,23 @@
 #define RELI_BOUND_LOW          4
 #define RELI_BOUND_HIGH         25
 
-// Localization estimate tolerences
+// Movement target tolerances
 #define POSITION_TOR            50
-#define ANGLE_TOR               0.15
+#define ANGLE_TOR               0.1
 
 // motion control
-#define MOVE_SPEED              50
+#define MOVE_SPEED              30
 #define MAX_STEP_RATIO          0.10 //maximum change in the speed
 //#define TRACK_RATE              10       // +- rate for each wheel when tracking
 
+#ifdef ROBOT_PRIMARY
+#define FWD_MOVE_P 1
+#define SPIN_MOVE_P 1.3
+#else
+#define FWD_MOVE_P 3.2
+#define SPIN_MOVE_P 4
+#endif
+
 // Task suspend periods
 #define IR_TURRET_PERIOD        200
 #define MOTION_UPDATE_PERIOD    20