From 6548d83aa655176ef939817e36cd05d0e6cfaccd Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 23 May 2011 01:23:43 +0200 Subject: digital/{io,io-hub,ai}: add generic radar, add radar to robospierre --- digital/io/src/radar.h | 78 -------------------------------------------------- 1 file changed, 78 deletions(-) delete mode 100644 digital/io/src/radar.h (limited to 'digital/io/src/radar.h') diff --git a/digital/io/src/radar.h b/digital/io/src/radar.h deleted file mode 100644 index b4611ec7..00000000 --- a/digital/io/src/radar.h +++ /dev/null @@ -1,78 +0,0 @@ -#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 */ -- cgit v1.2.3