Diff: globals.h

Revision:

7:88753d0ad4ca

Parent:

1:6799c07fe510

Child:

10:2bd9f4e02b74

--- a/globals.h	Wed Nov 14 16:49:10 2012 +0000
+++ b/globals.h	Wed Nov 14 17:11:12 2012 +0000
@@ -1,35 +1,26 @@
 #ifndef GLOBALS_H
 #define GLOBALS_H
 
+
+#define ROBOT_PRIMARY
+
+
 #include "mbed.h"
 #define PI 3.14159265
 
-
-//#define ROBOT_SECONDARY
-
 //enables ui
 //#define UION
 
-#ifdef ROBOT_SECONDARY
-//Secondary Robot constants in mm
-const int robot_width = 260;
-const int encoderRevCount = 360;
-const int wheelmm = 229;
-const int robotCircumference = 816;
 
 
+#ifdef ROBOT_PRIMARY
+// Primary defs go here
 #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;
+// Secondary defs go here
 #endif
 
-
+//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!
@@ -61,39 +52,5 @@
 //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
-
-// Movement target tolerances
-#define POSITION_TOR            20  // in mm
-#define ANGLE_TOR               0.06 // in rad
-
-// motion control
-
-#ifndef MOVE_SPEED_DEF
-#define MOVE_SPEED_DEF
-static int MOVE_SPEED = 35;
-#endif
-
-#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 20//18
-#define SPIN_MOVE_P 7//5.8
-#else
-#define FWD_MOVE_P 3.2
-#define SPIN_MOVE_P 4
-#endif
-
-// Task suspend periods
-#define IR_TURRET_PERIOD        200
-#define MOTION_UPDATE_PERIOD    20
 
 #endif
\ No newline at end of file