Cooper Liu
/
Eurobot2013_Co-Processor
working version with calibration done
Fork of Eurobot2013 by
globals.h
- Committer:
- madcowswe
- Date:
- 2012-11-14
- Revision:
- 7:88753d0ad4ca
- Parent:
- 1:6799c07fe510
- Child:
- 10:2bd9f4e02b74
File content as of revision 7:88753d0ad4ca:
#ifndef GLOBALS_H #define GLOBALS_H #define ROBOT_PRIMARY #include "mbed.h" #define PI 3.14159265 //enables ui //#define UION #ifdef ROBOT_PRIMARY // Primary defs go here #else // 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! 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; #endif