From c912f3edd803e4d8e6664e360590a0a538fbc7e5 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 26 Mar 2012 00:57:00 +0200 Subject: digital/io-hub/src/guybrush: initial guybrush almost empty program --- digital/io-hub/src/guybrush/bot.h | 58 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 58 insertions(+) create mode 100644 digital/io-hub/src/guybrush/bot.h (limited to 'digital/io-hub/src/guybrush/bot.h') diff --git a/digital/io-hub/src/guybrush/bot.h b/digital/io-hub/src/guybrush/bot.h new file mode 100644 index 00000000..65b4cb09 --- /dev/null +++ b/digital/io-hub/src/guybrush/bot.h @@ -0,0 +1,58 @@ +#ifndef bot_h +#define bot_h +/* bot.h */ +/* guybrush - Eurobot 2012 AI. {{{ + * + * Copyright (C) 2012 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. + * + * }}} */ + +/** Robot specific defines. */ + +/** Scaling factor, millimeter per step. */ +#ifdef HOST +# define BOT_SCALE 0.0395840674352314 +#else +# define BOT_SCALE 0.0317975134344 +#endif + +/** Distance from the robot axis to the front. */ +#define BOT_SIZE_FRONT 150 +/** Distance from the robot axis to the back. */ +#define BOT_SIZE_BACK 150 +/** Distance from the robot axis to the side. */ +#define BOT_SIZE_SIDE 190 + +/** Distance between the front contact point and the robot center. */ +#define BOT_FRONT_CONTACT_DIST_MM 150 +/** Angle error at the front contact point. */ +#define BOT_FRONT_CONTACT_ANGLE_ERROR_DEG 0 + +/** Speed used for initialisation. */ +#ifdef HOST +# define BOT_SPEED_INIT 0x20, 0x20, 0x20, 0x20 +#else +# define BOT_SPEED_INIT 0x10, 0x10, 0x10, 0x10 +#endif +/** Normal cruise speed. */ +#define BOT_SPEED_NORMAL 0x50, 0x60, 0x20, 0x20 + +#endif /* bot_h */ -- cgit v1.2.3