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diff --git a/digital/io/src/radar.h b/digital/io/src/radar.h
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-#ifndef radar_h
-#define radar_h
-/* radar.h */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
- *
- * Copyright (C) 2010 Nicolas Schodet
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- *
- * }}} */
-#include "defs.h"
-
-/**
- * Handle any distance sensors information to extract useful data. This
- * includes:
- * - combining several sensors information for a more precise obstacle
- * position,
- * - ignoring obstacles not in the playground,
- * - determining if an obstacle should make the robot stop.
- */
-
-/** Estimated obstacle edge radius. As the sensors detect obstacle edge, this is
- * added to position obstacle center. */
-#define RADAR_OBSTACLE_EDGE_RADIUS_MM 40
-
-/** Estimated obstacle radius. The obstacle may be larger than at the
- * detected edge. */
-#define RADAR_OBSTACLE_RADIUS_MM 150
-
-/** Stop distance. Distance under which an obstacle is considered harmful when
- * moving. */
-#define RADAR_STOP_MM 350
-
-/** Clearance distance. Distance over which an obstacle should be to the side
- * when moving.
- *
- * 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.
- *
- * 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. */
-#define RADAR_EPSILON_MM 70
-
-/** Update radar view. Return the number of obstacles found. Obstacles
- * positions are returned in obs_pos. */
-uint8_t
-radar_update (const position_t *robot_pos, vect_t *obs_pos);
-
-/** Return non zero if there is a blocking obstacle near the robot while going
- * to a destination point. */
-uint8_t
-radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos,
- const vect_t *obs_pos, uint8_t obs_nb);
-
-#endif /* radar_h */