Diff: globals.h

Revision:

1:cc2a9eb0bd55

Parent:

0:fbfafa6bf5f9

--- a/globals.h	Fri Apr 20 21:32:24 2012 +0000
+++ b/globals.h	Wed Oct 17 22:25:31 2012 +0000
@@ -2,35 +2,58 @@
 #define GLOBALS_H
 
 #include "mbed.h"
-
 #define PI 3.14159265
 
-//Robot constants
-//const int encoderRevCount = 1856;
-//const int wheelmm = 314;
-//const int robotCircumference = 1256;
+
+#define ROBOT_SECONDARY
 
-//Robot constants in mm
+//enables ui
+//#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;
 
+
+#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 = 308;
+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 = 0.01; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
+const float varperang = 0.01; //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;
     int y;
 };
-const pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}};
+
+//beacon positions
+extern pos beaconpos[];
+
+//Colour
+extern bool Colour; // 1 for red, 0 for blue
 
 //System constants
 const int PREDICTPERIOD = 20; //ms
@@ -47,15 +70,23 @@
 #define RELI_BOUND_LOW          4
 #define RELI_BOUND_HIGH         25
 
-// Localization estimate tolerences
-#define POSITION_TOR            50
-#define ANGLE_TOR               0.15
+// Movement target tolerances
+#define POSITION_TOR            40  // in mm
+#define ANGLE_TOR               0.06 // in rad
 
 // motion control
-#define MOVE_SPEED              30
+static int MOVE_SPEED = 45;
 #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 18
+#define SPIN_MOVE_P 5.8
+#else
+#define FWD_MOVE_P 12.4 //3.2
+#define SPIN_MOVE_P 4
+#endif
+
 // Task suspend periods
 #define IR_TURRET_PERIOD        200
 #define MOTION_UPDATE_PERIOD    20