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authorNicolas Schodet2011-05-30 01:10:13 +0200
committerNicolas Schodet2011-05-30 01:12:06 +0200
commite0e813dc81eb0d5346ed76724438c94e4ac1e54b (patch)
treecf1062a7af03e24a55d6c4f10c4399bd04a64a15 /digital/io-hub/src/robospierre/bot.h
parent5cff7f4d119ef237e95f26a970f771939dd54260 (diff)
digital/io-hub: change element_get_pos
Diffstat (limited to 'digital/io-hub/src/robospierre/bot.h')
-rw-r--r--digital/io-hub/src/robospierre/bot.h10
1 files changed, 10 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index 661ba584..1c068def 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -41,6 +41,9 @@
/** Distance from the robot axis to the side. */
#define BOT_SIZE_SIDE 190
+/** Radius of an element. */
+#define BOT_ELEMENT_RADIUS 100
+
/** Distance between the front contact point and the robot center. */
#define BOT_FRONT_CONTACT_DIST_MM 150
/** Angle error at the front contact point. */
@@ -53,6 +56,13 @@
/** Distance from robot center to an element near enough to be taken. */
#define BOT_PAWN_TAKING_DISTANCE_MM 150
+/** Distance from border to position in front of a green element. */
+#define BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM 600
+/** Distance to go to capture a green element. */
+#define BOT_GREEN_ELEMENT_MOVE_DISTANCE_MM \
+ (BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM - BOT_ELEMENT_RADIUS \
+ - BOT_SIZE_FRONT - 20)
+
/** Speed used for initialisation. */
#ifdef HOST
# define BOT_SPEED_INIT 0x20, 0x20, 0x20, 0x20