Diff: globals.h

Revision:

22:7ba09c0af0d0

Parent:

21:15da49f18c63

Child:

23:1901cb6d0d95

--- a/globals.h	Tue May 01 16:54:44 2012 +0000
+++ b/globals.h	Thu May 03 14:20:04 2012 +0000
@@ -6,17 +6,17 @@
 
 
 //#define ROBOT_SECONDARY
-#define STARTLOC_RED
-//#define STARTLOC_BLUE
+//#define STARTLOC_RED
+#define STARTLOC_BLUE
 
 //enables ui
-#define UION
+//#define UION
 
 #ifdef ROBOT_SECONDARY
 //Secondary Robot constants in mm
 const int robot_width = 260;
 const int encoderRevCount = 360;
-const int wheelmm = 226;
+const int wheelmm = 229;
 const int robotCircumference = 816;
 
 
@@ -27,7 +27,7 @@
 // Primary Robot constants
 const int robot_width = 390;
 const int encoderRevCount = 1856;
-const int wheelmm = 304;
+const int wheelmm = 308;
 const int robotCircumference = 1150;
 #endif
 
@@ -50,10 +50,14 @@
     int x;
     int y;
 };
+
+// Red start
 #ifdef STARTLOC_RED
 const pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}};
-#elif STARTLOC_BLUE
-const pos beaconpos[] = {{0, 1000},{3000,2000}, {3000,0}};
+
+// Blue Start
+#else
+const pos beaconpos[] = {{0, 1000},{3000,0}, {3000,2000}};
 #endif
 
 //System constants
@@ -72,8 +76,8 @@
 #define RELI_BOUND_HIGH         25
 
 // Movement target tolerances
-#define POSITION_TOR            50
-#define ANGLE_TOR               0.1
+#define POSITION_TOR            30  // in mm
+#define ANGLE_TOR               0.1 // in rad
 
 // motion control
 #define MOVE_SPEED              20