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authorNicolas Schodet2011-05-29 19:19:28 +0200
committerNicolas Schodet2011-05-30 01:12:06 +0200
commit5c8d716b96d32609d18af5219c541201209e586d (patch)
tree8dd54149d201b451d7926c293b1087a6489c8e98 /digital/io-hub/src/robospierre/bot.h
parent2700442e8ecb331844687e349f5b20162a008b27 (diff)
digital/io-hub: handle element detection on table
Diffstat (limited to 'digital/io-hub/src/robospierre/bot.h')
-rw-r--r--digital/io-hub/src/robospierre/bot.h7
1 files changed, 7 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index 890780b3..7e773032 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -46,6 +46,13 @@
/** Angle error at the front contact point. */
#define BOT_FRONT_CONTACT_ANGLE_ERROR_DEG 0
+/** Distance from robot center to front pawn detection threshold. */
+#define BOT_PAWN_FRONT_DETECTION_THRESHOLD_MM 190
+/** Distance from robot center to back pawn detection threshold. */
+#define BOT_PAWN_BACK_DETECTION_THRESHOLD_MM -190
+/** Distance from robot center to an element near enough to be taken. */
+#define BOT_PAWN_TAKING_DISTANCE_MM 150
+
/** Speed used for initialisation. */
#define BOT_SPEED_INIT 0x10, 0x10, 0x10, 0x10
/** Normal cruise speed. */