From 92da721ce456b0b8773fc7be73a87b5db0bb8ca9 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 13 May 2010 04:09:54 +0200 Subject: digital/io/src: reduce radar thresholds Should be lower than path finding thresholds. --- digital/io/src/radar.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'digital/io/src/radar.c') diff --git a/digital/io/src/radar.c b/digital/io/src/radar.c index 5f13b7cb..90dec872 100644 --- a/digital/io/src/radar.c +++ b/digital/io/src/radar.c @@ -157,15 +157,15 @@ radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos, /* If destination is near, use clearance to destination point instead of * stop length. */ uint16_t length; - if (d < RADAR_STOP_MM - RADAR_CLEARANCE_MM) - length = d + BOT_SIZE_FRONT_CLAMP + RADAR_CLEARANCE_MM + if (d < RADAR_STOP_MM - RADAR_CLEARANCE_MM / 2) + length = d + BOT_SIZE_FRONT + RADAR_CLEARANCE_MM / 2 + RADAR_OBSTACLE_RADIUS_MM; else - length = BOT_SIZE_FRONT_CLAMP + RADAR_STOP_MM + length = BOT_SIZE_FRONT + RADAR_STOP_MM + RADAR_OBSTACLE_RADIUS_MM; /* To save divisions, multiply limits by vd length. */ int32_t limit = (uint32_t) d * length; - int32_t limitn = (uint32_t) d * (BOT_SIZE_SIDE + RADAR_CLEARANCE_MM + int32_t limitn = (uint32_t) d * (BOT_SIZE_SIDE + RADAR_CLEARANCE_MM / 2 + RADAR_OBSTACLE_RADIUS_MM); /* Now, look at obstacles. */ for (i = 0; i < obs_nb; i++) -- cgit v1.2.3