From 3c79a8d96c0395190d668f00e5bacf0e504f3816 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 9 Apr 2012 19:39:51 +0200 Subject: digital/io-hub/src/guybrush: init sequence parameters --- digital/io-hub/src/guybrush/bot.h | 8 ++++---- digital/io-hub/src/guybrush/init_defs.h | 16 ++++++++-------- 2 files changed, 12 insertions(+), 12 deletions(-) (limited to 'digital/io-hub') diff --git a/digital/io-hub/src/guybrush/bot.h b/digital/io-hub/src/guybrush/bot.h index 65b4cb09..400cd4b9 100644 --- a/digital/io-hub/src/guybrush/bot.h +++ b/digital/io-hub/src/guybrush/bot.h @@ -37,14 +37,14 @@ /** Distance from the robot axis to the front. */ #define BOT_SIZE_FRONT 150 /** Distance from the robot axis to the back. */ -#define BOT_SIZE_BACK 150 +#define BOT_SIZE_BACK 130 /** Distance from the robot axis to the side. */ -#define BOT_SIZE_SIDE 190 +#define BOT_SIZE_SIDE 172 /** Distance between the front contact point and the robot center. */ -#define BOT_FRONT_CONTACT_DIST_MM 150 +#define BOT_BACK_CONTACT_DIST_MM BOT_SIZE_BACK /** Angle error at the front contact point. */ -#define BOT_FRONT_CONTACT_ANGLE_ERROR_DEG 0 +#define BOT_BACK_CONTACT_ANGLE_ERROR_DEG 0 /** Speed used for initialisation. */ #ifdef HOST diff --git a/digital/io-hub/src/guybrush/init_defs.h b/digital/io-hub/src/guybrush/init_defs.h index 128d694e..6321fcfc 100644 --- a/digital/io-hub/src/guybrush/init_defs.h +++ b/digital/io-hub/src/guybrush/init_defs.h @@ -30,21 +30,21 @@ /** Parameters to push the first wall. */ #define INIT_FIRST_WALL_PUSH \ - 0, PG_X (BOT_FRONT_CONTACT_DIST_MM), 200, \ - PG_A_DEG (180 + BOT_FRONT_CONTACT_ANGLE_ERROR_DEG) + ASSERV_BACKWARD, PG_X (BOT_BACK_CONTACT_DIST_MM), 250, \ + PG_A_DEG (0 + BOT_BACK_CONTACT_ANGLE_ERROR_DEG) /** Parameters to go away from the first wall. */ -#define INIT_FIRST_WALL_AWAY -500 +#define INIT_FIRST_WALL_AWAY (250 - BOT_BACK_CONTACT_DIST_MM) /** Parameter to face the second wall. */ -#define INIT_SECOND_WALL_ANGLE PG_A_DEG (90) +#define INIT_SECOND_WALL_ANGLE PG_A_DEG (-90) /** Parameters to push the second wall. */ #define INIT_SECOND_WALL_PUSH \ - 0, -1, PG_Y (PG_LENGTH - BOT_FRONT_CONTACT_DIST_MM), -1 + ASSERV_BACKWARD, -1, PG_Y (PG_LENGTH - BOT_BACK_CONTACT_DIST_MM), -1 /** Parameters to go away from the second wall. */ -#define INIT_SECOND_WALL_AWAY -(200 - BOT_FRONT_CONTACT_DIST_MM) +#define INIT_SECOND_WALL_AWAY (250 - BOT_BACK_CONTACT_DIST_MM) /** Parameter to face the start position. */ -#define INIT_START_POSITION_ANGLE PG_A_DEG (0) +#undef INIT_START_POSITION_ANGLE /** Start position. */ #define INIT_START_POSITION \ - PG_X (200), PG_Y (PG_LENGTH - 200), PG_A_DEG (0), ASSERV_BACKWARD + PG_X (250), PG_Y (PG_LENGTH - 250), PG_A_DEG (0), ASSERV_REVERT_OK #endif /* init_defs_h */ -- cgit v1.2.3