From a4ba86186d0888953a1a195f8c38571d40b7b6d1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 23 Mar 2013 08:21:17 +0100 Subject: digital/io-hub/src/apbirthday: add initialisation FSM and deps --- digital/io-hub/src/apbirthday/bot.hh | 59 ++++++++++++++++++++++++++++++++++++ 1 file changed, 59 insertions(+) create mode 100644 digital/io-hub/src/apbirthday/bot.hh (limited to 'digital/io-hub/src/apbirthday/bot.hh') diff --git a/digital/io-hub/src/apbirthday/bot.hh b/digital/io-hub/src/apbirthday/bot.hh new file mode 100644 index 00000000..5817a478 --- /dev/null +++ b/digital/io-hub/src/apbirthday/bot.hh @@ -0,0 +1,59 @@ +#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 -- cgit v1.2.3