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authorNicolas Schodet2012-05-02 21:31:39 +0200
committerNicolas Schodet2012-05-07 16:31:46 +0200
commit45af370d9be47e5d180ed172e780a36924519987 (patch)
tree3e634f7964c816cd46007add302109786af78b7e /digital/io-hub/src/guybrush/path.h
parent7432f74c696b7b84c1fbfb2c71a209863d5c1631 (diff)
digital/io-hub/src/guybrush: first dumb top FSM
Diffstat (limited to 'digital/io-hub/src/guybrush/path.h')
-rw-r--r--digital/io-hub/src/guybrush/path.h7
1 files changed, 7 insertions, 0 deletions
diff --git a/digital/io-hub/src/guybrush/path.h b/digital/io-hub/src/guybrush/path.h
index 35f5cd69..53c32a15 100644
--- a/digital/io-hub/src/guybrush/path.h
+++ b/digital/io-hub/src/guybrush/path.h
@@ -32,6 +32,13 @@
/** Infinite validity for an obstacle. */
#define PATH_OBSTACLE_VALID_ALWAYS 0xffff
+/** Clearance between obstacle and robot center, only used for grid
+ * construction. */
+#define PATH_GRID_CLEARANCE_MM (70 + BOT_SIZE_RADIUS)
+
+/** Shortcut. */
+#define PATH_TOTEM_CLEAR_MM (PG_TOTEM_WIDTH_MM / 2 + PATH_GRID_CLEARANCE_MM)
+
/** Obstacle. */
struct path_obstacle_t
{