Cooper Liu
/
Eurobot2013_Co-Processor
working version with calibration done
Fork of Eurobot2013 by
Diff: globals.h
- Revision:
- 3:8c78c15a92e3
- Parent:
- 1:6799c07fe510
--- a/globals.h Wed Nov 07 14:41:49 2012 +0000 +++ b/globals.h Wed Nov 14 15:48:20 2012 +0000 @@ -5,95 +5,14 @@ #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; +#define ROBOT_PRIMARY +#ifdef ROBOT_PRIMARY +// Secondary 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; +// Primary defs go here #endif - -//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; - -//sonar constants -static const float sonarvariance = 0.005; - -//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 - -//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