From 3858cf3814d073a279309acbc587648bb10609b9 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 12 May 2010 23:24:56 +0200 Subject: digital/io/src: lower fast speed and raise stop distance --- digital/io/src/bot.h | 4 +++- digital/io/src/radar.c | 5 +++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/digital/io/src/bot.h b/digital/io/src/bot.h index f0264240..9617ecb2 100644 --- a/digital/io/src/bot.h +++ b/digital/io/src/bot.h @@ -45,6 +45,8 @@ /** Distance from the robot axis to the front. */ #define BOT_SIZE_FRONT 120 +/** Distance from the robot axis to the front clamp. */ +#define BOT_SIZE_FRONT_CLAMP (120 + 100) /** Distance from the robot axis to the back. */ #define BOT_SIZE_BACK (280 - 120) /** Distance from the robot axis to the side. */ @@ -66,7 +68,7 @@ #define BOT_MIN_DISTANCE_TURN_FREE 300 /** Fast parameters. */ -#define BOT_MOVE_FAST 0x50, 0x50, 0x20, 0x20 +#define BOT_MOVE_FAST 0x30, 0x30, 0x20, 0x20 /** Slow parameters. */ #define BOT_MOVE_SLOW 0x20, 0x20, 0x10, 0x10 diff --git a/digital/io/src/radar.c b/digital/io/src/radar.c index 6188ff37..5f13b7cb 100644 --- a/digital/io/src/radar.c +++ b/digital/io/src/radar.c @@ -158,10 +158,11 @@ radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos, * stop length. */ uint16_t length; if (d < RADAR_STOP_MM - RADAR_CLEARANCE_MM) - length = d + BOT_SIZE_FRONT + RADAR_CLEARANCE_MM + length = d + BOT_SIZE_FRONT_CLAMP + RADAR_CLEARANCE_MM + RADAR_OBSTACLE_RADIUS_MM; else - length = BOT_SIZE_FRONT + RADAR_STOP_MM + RADAR_OBSTACLE_RADIUS_MM; + length = BOT_SIZE_FRONT_CLAMP + 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 -- cgit v1.2.3