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authorNicolas Schodet2010-05-13 04:09:54 +0200
committerNicolas Schodet2010-05-13 04:09:54 +0200
commit92da721ce456b0b8773fc7be73a87b5db0bb8ca9 (patch)
tree65b6990e98b6b7673f2558d24adb6e7d2609fe06 /digital/io
parent44f55257cae560ee1e949d378504a9a457eb71c0 (diff)
digital/io/src: reduce radar thresholds
Should be lower than path finding thresholds.
Diffstat (limited to 'digital/io')
-rw-r--r--digital/io/src/radar.c8
1 files changed, 4 insertions, 4 deletions
diff --git a/digital/io/src/radar.c b/digital/io/src/radar.c
index 5f13b7cb..90dec872 100644
--- a/digital/io/src/radar.c
+++ b/digital/io/src/radar.c
@@ -157,15 +157,15 @@ radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos,
/* If destination is near, use clearance to destination point instead of
* stop length. */
uint16_t length;
- if (d < RADAR_STOP_MM - RADAR_CLEARANCE_MM)
- length = d + BOT_SIZE_FRONT_CLAMP + RADAR_CLEARANCE_MM
+ if (d < RADAR_STOP_MM - RADAR_CLEARANCE_MM / 2)
+ length = d + BOT_SIZE_FRONT + RADAR_CLEARANCE_MM / 2
+ RADAR_OBSTACLE_RADIUS_MM;
else
- length = BOT_SIZE_FRONT_CLAMP + RADAR_STOP_MM
+ length = BOT_SIZE_FRONT + RADAR_STOP_MM
+ RADAR_OBSTACLE_RADIUS_MM;
/* To save divisions, multiply limits by vd length. */
int32_t limit = (uint32_t) d * length;
- int32_t limitn = (uint32_t) d * (BOT_SIZE_SIDE + RADAR_CLEARANCE_MM
+ int32_t limitn = (uint32_t) d * (BOT_SIZE_SIDE + RADAR_CLEARANCE_MM / 2
+ RADAR_OBSTACLE_RADIUS_MM);
/* Now, look at obstacles. */
for (i = 0; i < obs_nb; i++)