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-rw-r--r--digital/io/src/move.h13
1 files changed, 13 insertions, 0 deletions
diff --git a/digital/io/src/move.h b/digital/io/src/move.h
index a208997f..64100a14 100644
--- a/digital/io/src/move.h
+++ b/digital/io/src/move.h
@@ -27,6 +27,19 @@
#include "defs.h"
+/** Real radius of an obstacle. */
+#define MOVE_REAL_OBSTACLE_RADIUS 150
+
+/** Obstacle radius for the path module.
+ * It corresponds to the real radius of the obstacle plus the distance you
+ * want to add to avoid it. */
+#define MOVE_OBSTACLE_RADIUS (MOVE_REAL_OBSTACLE_RADIUS \
+ + RADAR_CLEARANCE_MM \
+ + BOT_SIZE_SIDE)
+
+/** Obstacle validity time (in term of number of cycles). */
+#define MOVE_OBSTACLE_VALIDITY (6 * 225)
+
/**
* Move FSM associated data.
*/