From d8166cc985d91855b71307d56e99eb2c3a6fb234 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 8 May 2013 15:43:52 +0200 Subject: digital/io-hub, digital/mimot, host/simu/robots: update robot size --- digital/io-hub/src/apbirthday/bot.hh | 8 ++++---- digital/mimot/src/asserv/models.host.c | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) (limited to 'digital') diff --git a/digital/io-hub/src/apbirthday/bot.hh b/digital/io-hub/src/apbirthday/bot.hh index fed8f20f..d422f8a4 100644 --- a/digital/io-hub/src/apbirthday/bot.hh +++ b/digital/io-hub/src/apbirthday/bot.hh @@ -34,13 +34,13 @@ #endif /// Distance from the robot axis to the front. -#define BOT_SIZE_FRONT 102 +#define BOT_SIZE_FRONT 96 /// Distance from the robot axis to the back. -#define BOT_SIZE_BACK 108 +#define BOT_SIZE_BACK 126 /// Distance from the robot axis to the side. -#define BOT_SIZE_SIDE 140 +#define BOT_SIZE_SIDE 142 /// Maximum distance from the robot base center to one of its edge. -#define BOT_SIZE_RADIUS 177 +#define BOT_SIZE_RADIUS 190 /// Distance between the front contact point and the robot center. #define BOT_FRONT_CONTACT_DIST BOT_SIZE_FRONT diff --git a/digital/mimot/src/asserv/models.host.c b/digital/mimot/src/asserv/models.host.c index bdcba555..3fe4fd1a 100644 --- a/digital/mimot/src/asserv/models.host.c +++ b/digital/mimot/src/asserv/models.host.c @@ -115,8 +115,8 @@ static const struct robot_t apbirthday_robot = * table. */ simu_table_test_apbirthday, /** Robot corners, from front left, then clockwise. */ - { { 102, 140 }, { 102, -140 }, { -108, -140 }, { -108, 70 }, - { -58, 140 } }, + { { 96, 142 }, { 96, -142 }, { -126, -142 }, { -126, 81 }, + { -80, 142 } }, /** Initialisation function. */ NULL, }; -- cgit v1.2.3