Shuto Naruse
/
Eurobot2012_Secondary
Eurobot2012_Secondary
Fork of Eurobot_2012_Secondary by
globals.h
- Committer:
- narshu
- Date:
- 2012-04-20
- Revision:
- 0:fbfafa6bf5f9
- Child:
- 1:cc2a9eb0bd55
File content as of revision 0:fbfafa6bf5f9:
#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