Diff: globals.h

Revision:

31:ada943ecaceb

Parent:

28:4e20b44251c6

Child:

32:e3f633620816

--- a/globals.h	Wed Apr 10 14:34:07 2013 +0000
+++ b/globals.h	Wed Apr 10 18:04:47 2013 +0000
@@ -10,13 +10,13 @@
 
 const float ENCODER_M_PER_TICK = 0.00084;
 const float ENCODER_WHEELBASE = 0.068;
-const float TURRET_FWD_PLACEMENT = 0.042;
+const float TURRET_FWD_PLACEMENT = -0.042;
 
 //Robot movement constants
 const float fwdvarperunit = 0.01; //1 std dev = 7% //TODO: measrue this!!
-const float varperang = 0.01; //around 1 degree stddev per 180 turn //TODO: measrue this!!
-const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
-const float angvarpertime = 0.001;
+const float varperang = 0.0002; //around 1 degree stddev per 180 turn //TODO: measrue this!!
+const float xyvarpertime = 0;//0.0005; //(very poorly) accounts for hitting things
+const float angvarpertime = 0;//0.001;
 
 const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this
 const float MOTOR_MAX_POWER = 0.4f;
@@ -60,6 +60,7 @@
 
 const PinName P_SERIAL_RX       = p14;
 const PinName P_DISTANCE_SENSOR = p15;
+const PinName P_FWD_DISTANCE_SENSOR = p16;
 
 const PinName P_COLOR_SENSOR_IN = p20;