Diff: globals.h

Revision:

11:5ba926692210

Parent:

10:2bd9f4e02b74

--- a/globals.h	Sun Apr 07 16:30:49 2013 +0000
+++ b/globals.h	Tue Apr 09 15:32:47 2013 +0000
@@ -6,23 +6,13 @@
 
 #define ROBOT_PRIMARY
 
-// Stepper motor defines go here, p30 is reserved for the hardware counter
+// IR turret defines go here, p30 is reserved for the hardware counter
 #define STEPPER_PIN p21 //p21 pwmout
-#define STEPPER_PERIOD 0.0001   //Stepper motor period in seconds, 50% duty cycle
-#define STEPPER_DIV   3200    // number of steps per cycle = default * microstep
-#define STEP_ANGLE   ((float)(2*PI) / STEPPER_DIV)    // step angle of stepper
-#define IR_TIMEOUT_STEP 90 //about 10 degrees
-#define IR_TIMEOUT (STEPPER_PERIOD*IR_TIMEOUT_STEP)
+#define IR_SENSOR_PIN p17
 
-// IR Sensor defines go here
-#define PWM_INVERT // inverts the PWM for the IR sensor pwm input
-#define IR_SENSOR_PIN p17
-#define IR0_PULSEWIDTH 1000
-#define IR1_PULSEWIDTH 750
-#define IR2_PULSEWIDTH 500
-#define PULSEWIDTH_TOLERANCE 125
-
-
+// serial interface to the mainboard
+#define MBED_MAIN_SERIAL_TX p28
+#define MBED_MAIN_SERIAL_RX p27
 
 
 
@@ -33,48 +23,19 @@
 
 #ifdef ROBOT_PRIMARY
 // Primary defs go here
-//Robot hardware parameters
-const int robotCircumference = 816; //mm (DUMMY!)
 
-//Robot movement constants
-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;
 #else
 // Secondary defs go here
-//Robot hardware parameters
-const int robotCircumference = 816; //mm (DUMMY!)
 
-//Robot movement constants
-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;
 #endif
 
 
 
 //sonar constants
-static const float sonarvariance = 0.005;
+static const float sonarvariance = 0.01*0.01; //0.01m std
 
 //IR constants
-static const float IRvariance = 0.001;
-
-//Arena constants
-struct pos {
-    int x;
-    int y;
-};
-
-//beacon positions
-extern pos beaconpos[];
-
-//Colour
-extern bool Colour; // 1 for red, 0 for blue
-
-//System constants
-const int PREDICTPERIOD = 20; //ms
+static const float IRvariance = 0.0073*0.0073; //std = 0.0073
 
 //High speed serial port
 extern Serial pc;