#ifndef bot_hh #define bot_hh // io-hub - Modular Input/Output. {{{ // // Copyright (C) 2013 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 definitions. /// 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 102 /// Distance from the robot axis to the back. #define BOT_SIZE_BACK 108 /// Distance from the robot axis to the side. #define BOT_SIZE_SIDE 140 /// Maximum distance from the robot base center to one of its edge. #define BOT_SIZE_RADIUS 177 /// Distance between the front contact point and the robot center. #define BOT_FRONT_CONTACT_DIST BOT_SIZE_FRONT /// Angle error at the front contact point. #define BOT_BACK_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 /// Speed used for plate loading. #define BOT_SPEED_PLATE 0x20, 0x20, 0x20, 0x20 /// Speed used for gifts. #define BOT_SPEED_GIFTS 0x28, 0x30, 0x20, 0x20 /// Normal pneumatic pressure. #define BOT_NORMAL_PRESSURE 0x0c00 /// X position of the gift arm when extended. static const int bot_gift_arm_x = -100; #endif // bot_hh