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Diffstat (limited to 'digital/io-hub/src/guybrush/bot.h')
-rw-r--r--digital/io-hub/src/guybrush/bot.h10
1 files changed, 8 insertions, 2 deletions
diff --git a/digital/io-hub/src/guybrush/bot.h b/digital/io-hub/src/guybrush/bot.h
index aef18b3b..3d86f9f1 100644
--- a/digital/io-hub/src/guybrush/bot.h
+++ b/digital/io-hub/src/guybrush/bot.h
@@ -38,12 +38,18 @@
#define BOT_SIZE_FRONT 165
/** Distance from the robot axis to the lower clamp back. */
#define BOT_SIZE_LOWER_CLAMP_FRONT 100
+/** Distance from the robot axis to the maximum occupied space when
+ * loading. */
+#define BOT_SIZE_LOADING_FRONT 275
/** Distance from the robot axis to the back. */
-#define BOT_SIZE_BACK 134
+#define BOT_SIZE_BACK 135
/** Distance from the robot axis to the side. */
#define BOT_SIZE_SIDE 172
/** Maximum distance from the robot base center to one of its edge. */
#define BOT_SIZE_RADIUS 230
+/** Maximum distance from the robot base center to one of its edge, at the
+ * back. */
+#define BOT_SIZE_BACK_RADIUS 180
/** Distance between the front contact point and the robot center. */
#define BOT_BACK_CONTACT_DIST_MM BOT_SIZE_BACK
@@ -59,6 +65,6 @@
/** Normal cruise speed. */
#define BOT_SPEED_NORMAL 0x50, 0x60, 0x20, 0x20
/** Approach speed. */
-#define BOT_SPEED_APPROACH 0x20, 0x30, 0x20, 0x20
+#define BOT_SPEED_APPROACH 0x20, 0x30, 0x10, 0x20
#endif /* bot_h */