Shuto Naruse
Eurobot_2012_Secondary
globals.h@0:fbfafa6bf5f9, 2012-04-20 (annotated)
- Committer:
- narshu
- Date:
- Fri Apr 20 21:32:24 2012 +0000
- Revision:
- 0:fbfafa6bf5f9
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| narshu | 0:fbfafa6bf5f9 | 1 | #ifndef GLOBALS_H |
| narshu | 0:fbfafa6bf5f9 | 2 | #define GLOBALS_H |
| narshu | 0:fbfafa6bf5f9 | 3 | |
| narshu | 0:fbfafa6bf5f9 | 4 | #include "mbed.h" |
| narshu | 0:fbfafa6bf5f9 | 5 | |
| narshu | 0:fbfafa6bf5f9 | 6 | #define PI 3.14159265 |
| narshu | 0:fbfafa6bf5f9 | 7 | |
| narshu | 0:fbfafa6bf5f9 | 8 | //Robot constants |
| narshu | 0:fbfafa6bf5f9 | 9 | //const int encoderRevCount = 1856; |
| narshu | 0:fbfafa6bf5f9 | 10 | //const int wheelmm = 314; |
| narshu | 0:fbfafa6bf5f9 | 11 | //const int robotCircumference = 1256; |
| narshu | 0:fbfafa6bf5f9 | 12 | |
| narshu | 0:fbfafa6bf5f9 | 13 | //Robot constants in mm |
| narshu | 0:fbfafa6bf5f9 | 14 | const int robot_width = 260; |
| narshu | 0:fbfafa6bf5f9 | 15 | const int encoderRevCount = 360; |
| narshu | 0:fbfafa6bf5f9 | 16 | const int wheelmm = 226; |
| narshu | 0:fbfafa6bf5f9 | 17 | const int robotCircumference = 816; |
| narshu | 0:fbfafa6bf5f9 | 18 | |
| narshu | 0:fbfafa6bf5f9 | 19 | //Robot movement constants |
| narshu | 0:fbfafa6bf5f9 | 20 | const float fwdvarperunit = 0.005; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN! |
| narshu | 0:fbfafa6bf5f9 | 21 | const float varperang = 3E-5; //around 1 degree stddev per 180 turn |
| narshu | 0:fbfafa6bf5f9 | 22 | const float xyvarpertime = 0.001; //(very poorly) accounts for hitting things |
| narshu | 0:fbfafa6bf5f9 | 23 | const float angvarpertime = 0.001; |
| narshu | 0:fbfafa6bf5f9 | 24 | |
| narshu | 0:fbfafa6bf5f9 | 25 | //sonar constants |
| narshu | 0:fbfafa6bf5f9 | 26 | static const float sonarvariance = 0.005; |
| narshu | 0:fbfafa6bf5f9 | 27 | |
| narshu | 0:fbfafa6bf5f9 | 28 | //Arena constants |
| narshu | 0:fbfafa6bf5f9 | 29 | struct pos { |
| narshu | 0:fbfafa6bf5f9 | 30 | int x; |
| narshu | 0:fbfafa6bf5f9 | 31 | int y; |
| narshu | 0:fbfafa6bf5f9 | 32 | }; |
| narshu | 0:fbfafa6bf5f9 | 33 | const pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}}; |
| narshu | 0:fbfafa6bf5f9 | 34 | |
| narshu | 0:fbfafa6bf5f9 | 35 | //System constants |
| narshu | 0:fbfafa6bf5f9 | 36 | const int PREDICTPERIOD = 20; //ms |
| narshu | 0:fbfafa6bf5f9 | 37 | |
| narshu | 0:fbfafa6bf5f9 | 38 | //High speed serial port |
| narshu | 0:fbfafa6bf5f9 | 39 | extern Serial pc; |
| narshu | 0:fbfafa6bf5f9 | 40 | |
| narshu | 0:fbfafa6bf5f9 | 41 | //I2C mutex |
| narshu | 0:fbfafa6bf5f9 | 42 | //extern Mutex i2c_rlock; |
| narshu | 0:fbfafa6bf5f9 | 43 | //extern Mutex i2c_wlock; |
| narshu | 0:fbfafa6bf5f9 | 44 | |
| narshu | 0:fbfafa6bf5f9 | 45 | |
| narshu | 0:fbfafa6bf5f9 | 46 | // IR angle calc |
| narshu | 0:fbfafa6bf5f9 | 47 | #define RELI_BOUND_LOW 4 |
| narshu | 0:fbfafa6bf5f9 | 48 | #define RELI_BOUND_HIGH 25 |
| narshu | 0:fbfafa6bf5f9 | 49 | |
| narshu | 0:fbfafa6bf5f9 | 50 | // Localization estimate tolerences |
| narshu | 0:fbfafa6bf5f9 | 51 | #define POSITION_TOR 50 |
| narshu | 0:fbfafa6bf5f9 | 52 | #define ANGLE_TOR 0.15 |
| narshu | 0:fbfafa6bf5f9 | 53 | |
| narshu | 0:fbfafa6bf5f9 | 54 | // motion control |
| narshu | 0:fbfafa6bf5f9 | 55 | #define MOVE_SPEED 30 |
| narshu | 0:fbfafa6bf5f9 | 56 | #define MAX_STEP_RATIO 0.10 //maximum change in the speed |
| narshu | 0:fbfafa6bf5f9 | 57 | //#define TRACK_RATE 10 // +- rate for each wheel when tracking |
| narshu | 0:fbfafa6bf5f9 | 58 | |
| narshu | 0:fbfafa6bf5f9 | 59 | // Task suspend periods |
| narshu | 0:fbfafa6bf5f9 | 60 | #define IR_TURRET_PERIOD 200 |
| narshu | 0:fbfafa6bf5f9 | 61 | #define MOTION_UPDATE_PERIOD 20 |
| narshu | 0:fbfafa6bf5f9 | 62 | |
| narshu | 0:fbfafa6bf5f9 | 63 | #endif |