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-rw-r--r--digital/io/src/radar.h7
1 files changed, 6 insertions, 1 deletions
diff --git a/digital/io/src/radar.h b/digital/io/src/radar.h
index e486b069..1e541a28 100644
--- a/digital/io/src/radar.h
+++ b/digital/io/src/radar.h
@@ -49,7 +49,12 @@
* OK, more explanations: when moving, a rectangle is placed in front of the
* robot, of length RADAR_STOP_MM and width 2 * (RADAR_CLEARANCE_MM +
* BOT_SIZE_SIDE). If an obstacle is inside this rectangle, it is considered
- * in the way. */
+ * in the way.
+ *
+ * If the destination point is near (< RADAR_STOP_MM - RADAR_CLEARANCE_MM),
+ * this reduce the rectangle length.
+ *
+ * If the destination is really near (< RADAR_EPSILON_MM), ignore all this. */
#define RADAR_CLEARANCE_MM 100
/** Destination distance near enough so that obstacles could be ignored. */