From 45af370d9be47e5d180ed172e780a36924519987 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 2 May 2012 21:31:39 +0200 Subject: digital/io-hub/src/guybrush: first dumb top FSM --- digital/io-hub/src/guybrush/path.h | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'digital/io-hub/src/guybrush/path.h') diff --git a/digital/io-hub/src/guybrush/path.h b/digital/io-hub/src/guybrush/path.h index 35f5cd69..53c32a15 100644 --- a/digital/io-hub/src/guybrush/path.h +++ b/digital/io-hub/src/guybrush/path.h @@ -32,6 +32,13 @@ /** Infinite validity for an obstacle. */ #define PATH_OBSTACLE_VALID_ALWAYS 0xffff +/** Clearance between obstacle and robot center, only used for grid + * construction. */ +#define PATH_GRID_CLEARANCE_MM (70 + BOT_SIZE_RADIUS) + +/** Shortcut. */ +#define PATH_TOTEM_CLEAR_MM (PG_TOTEM_WIDTH_MM / 2 + PATH_GRID_CLEARANCE_MM) + /** Obstacle. */ struct path_obstacle_t { -- cgit v1.2.3