summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/radar_defs.c
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io/src/radar_defs.c')
-rw-r--r--digital/io/src/radar_defs.c54
1 files changed, 54 insertions, 0 deletions
diff --git a/digital/io/src/radar_defs.c b/digital/io/src/radar_defs.c
new file mode 100644
index 00000000..2787ed97
--- /dev/null
+++ b/digital/io/src/radar_defs.c
@@ -0,0 +1,54 @@
+/* radar_defs.c */
+/* 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 "common.h"
+#include "radar.h"
+
+#include "modules/devices/usdist/usdist.h"
+#include "playground_2010.h"
+
+/** Define radar configuration. */
+struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB] = {
+#define RADAR_SENSOR_FRONT 0
+ { &usdist_mm[0], { 30 - 20, 0 }, G_ANGLE_UF016_DEG (0) },
+#define RADAR_SENSOR_LEFT 1
+ { &usdist_mm[1], { 20 - 20, 20 }, G_ANGLE_UF016_DEG (30) },
+#define RADAR_SENSOR_RIGHT 2
+ { &usdist_mm[2], { 20 - 20, -20 }, G_ANGLE_UF016_DEG (-30) },
+#define RADAR_SENSOR_BACK 3
+ { &usdist_mm[3], { -30 - 20, 0 }, G_ANGLE_UF016_DEG (180) },
+};
+
+/** Define exclusion area (considered as invalid point). */
+uint8_t
+radar_valid (vect_t p)
+{
+ return p.x >= RADAR_MARGIN_MM && p.x < PG_WIDTH - RADAR_MARGIN_MM
+ && p.y >= RADAR_MARGIN_MM && p.y < PG_LENGTH - RADAR_MARGIN_MM
+ /* Ignore points on slope, no margin for the slope start. */
+ && (p.x < PG_WIDTH / 2 - PG_SLOPE_WIDTH / 2
+ || p.x >= PG_WIDTH / 2 + PG_SLOPE_WIDTH / 2
+ || p.y < PG_LENGTH - PG_SLOPE_LENGTH - RADAR_MARGIN_MM / 2);
+}
+