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authorNicolas Schodet2012-03-26 00:57:00 +0200
committerNicolas Schodet2012-03-26 00:57:00 +0200
commitc912f3edd803e4d8e6664e360590a0a538fbc7e5 (patch)
tree14a7ddabbffdbbf7160aaa759de457206c754a17 /digital/io-hub/src/guybrush/bot.h
parent0443ae6a587e083db400c25e52c9a2fff3d1a582 (diff)
digital/io-hub/src/guybrush: initial guybrush almost empty program
Diffstat (limited to 'digital/io-hub/src/guybrush/bot.h')
-rw-r--r--digital/io-hub/src/guybrush/bot.h58
1 files changed, 58 insertions, 0 deletions
diff --git a/digital/io-hub/src/guybrush/bot.h b/digital/io-hub/src/guybrush/bot.h
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+#ifndef bot_h
+#define bot_h
+/* bot.h */
+/* guybrush - Eurobot 2012 AI. {{{
+ *
+ * Copyright (C) 2012 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 defines. */
+
+/** 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 150
+/** Distance from the robot axis to the back. */
+#define BOT_SIZE_BACK 150
+/** Distance from the robot axis to the side. */
+#define BOT_SIZE_SIDE 190
+
+/** Distance between the front contact point and the robot center. */
+#define BOT_FRONT_CONTACT_DIST_MM 150
+/** Angle error at the front contact point. */
+#define BOT_FRONT_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
+
+#endif /* bot_h */