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+#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
+
+#endif // bot_hh