From 71d99ef2521c11addf8dbdce89d195a9de083f74 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 23 Apr 2010 00:33:35 +0200 Subject: digital/io/src: move move FSM defines --- digital/io/src/move.h | 13 +++++++++++++ 1 file changed, 13 insertions(+) (limited to 'digital/io/src/move.h') diff --git a/digital/io/src/move.h b/digital/io/src/move.h index a208997f..64100a14 100644 --- a/digital/io/src/move.h +++ b/digital/io/src/move.h @@ -27,6 +27,19 @@ #include "defs.h" +/** Real radius of an obstacle. */ +#define MOVE_REAL_OBSTACLE_RADIUS 150 + +/** Obstacle radius for the path module. + * It corresponds to the real radius of the obstacle plus the distance you + * want to add to avoid it. */ +#define MOVE_OBSTACLE_RADIUS (MOVE_REAL_OBSTACLE_RADIUS \ + + RADAR_CLEARANCE_MM \ + + BOT_SIZE_SIDE) + +/** Obstacle validity time (in term of number of cycles). */ +#define MOVE_OBSTACLE_VALIDITY (6 * 225) + /** * Move FSM associated data. */ -- cgit v1.2.3