Diff: globals.h

Revision:

0:fbfafa6bf5f9

Child:

1:cc2a9eb0bd55

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/globals.h	Fri Apr 20 21:32:24 2012 +0000
@@ -0,0 +1,63 @@
+#ifndef GLOBALS_H
+#define GLOBALS_H
+
+#include "mbed.h"
+
+#define PI 3.14159265
+
+//Robot constants
+//const int encoderRevCount = 1856;
+//const int wheelmm = 314;
+//const int robotCircumference = 1256;
+
+//Robot constants in mm
+const int robot_width = 260;
+const int encoderRevCount = 360;
+const int wheelmm = 226;
+const int robotCircumference = 816;
+
+//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 angvarpertime = 0.001;
+
+//sonar constants
+static const float sonarvariance = 0.005;
+
+//Arena constants
+struct pos {
+    int x;
+    int y;
+};
+const pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}};
+
+//System constants
+const int PREDICTPERIOD = 20; //ms
+
+//High speed serial port
+extern Serial pc;
+
+//I2C mutex
+//extern Mutex i2c_rlock;
+//extern Mutex i2c_wlock;
+
+
+// IR angle calc
+#define RELI_BOUND_LOW          4
+#define RELI_BOUND_HIGH         25
+
+// Localization estimate tolerences
+#define POSITION_TOR            50
+#define ANGLE_TOR               0.15
+
+// motion control
+#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
+
+// Task suspend periods
+#define IR_TURRET_PERIOD        200
+#define MOTION_UPDATE_PERIOD    20
+
+#endif
\ No newline at end of file