Diff: globals.h

Revision:

9:377560539b74

Parent:

5:7ac07bf30707

Child:

10:294b9adbc9d3

--- a/globals.h	Fri Apr 27 18:36:54 2012 +0000
+++ b/globals.h	Sat Apr 28 17:21:24 2012 +0000
@@ -1,42 +1,44 @@
 #ifndef GLOBALS_H
 #define GLOBALS_H
 
+#include "mbed.h"
+#define PI 3.14159265
+
 //#define ROBOT_SECONDARY
 
-#ifndef ROBOT_SECONDARY
-#define ROBOT_PRIMARY
-// invert echo polarity for primary
-#define SONAR_ECHO_INV
-// Primary Robot constants
-const int robot_width = 410;
-const int encoderRevCount = 1856;
-const int wheelmm = 314;
-const int robotCircumference = 1256;
-#else
+#ifdef ROBOT_SECONDARY
 //Secondary Robot constants in mm
 const int robot_width = 260;
 const int encoderRevCount = 360;
 const int wheelmm = 226;
 const int robotCircumference = 816;
-#endif
-
-#include "mbed.h"
-
-#define PI 3.14159265
 
 
+#else
+#define ROBOT_PRIMARY
+// invert echo polarity for primary
+#define SONAR_ECHO_INV
+// Primary Robot constants
+const int robot_width = 390;
+const int encoderRevCount = 1856;
+const int wheelmm = 304;
+const int robotCircumference = 1150;
+#endif
 
 
 
 //Robot movement constants
-const float fwdvarperunit = 0.005; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
-const float varperang = 3E-5; //around 1 degree stddev per 180 turn
-const float xyvarpertime = 0.001; //(very poorly) accounts for hitting things
+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;
 
 //sonar constants
 static const float sonarvariance = 0.005;
 
+//IR constants
+static const float IRvariance = 0.001;
+
 //Arena constants
 struct pos {
     int x;
@@ -64,7 +66,7 @@
 #define ANGLE_TOR               0.15
 
 // motion control
-#define MOVE_SPEED              30
+#define MOVE_SPEED              50
 #define MAX_STEP_RATIO          0.10 //maximum change in the speed
 //#define TRACK_RATE              10       // +- rate for each wheel when tracking