From 3858cf3814d073a279309acbc587648bb10609b9 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 12 May 2010 23:24:56 +0200 Subject: digital/io/src: lower fast speed and raise stop distance --- digital/io/src/radar.c | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'digital/io/src/radar.c') diff --git a/digital/io/src/radar.c b/digital/io/src/radar.c index 6188ff37..5f13b7cb 100644 --- a/digital/io/src/radar.c +++ b/digital/io/src/radar.c @@ -158,10 +158,11 @@ radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos, * stop length. */ uint16_t length; if (d < RADAR_STOP_MM - RADAR_CLEARANCE_MM) - length = d + BOT_SIZE_FRONT + RADAR_CLEARANCE_MM + length = d + BOT_SIZE_FRONT_CLAMP + RADAR_CLEARANCE_MM + RADAR_OBSTACLE_RADIUS_MM; else - length = BOT_SIZE_FRONT + RADAR_STOP_MM + RADAR_OBSTACLE_RADIUS_MM; + length = BOT_SIZE_FRONT_CLAMP + RADAR_STOP_MM + + RADAR_OBSTACLE_RADIUS_MM; /* To save divisions, multiply limits by vd length. */ int32_t limit = (uint32_t) d * length; int32_t limitn = (uint32_t) d * (BOT_SIZE_SIDE + RADAR_CLEARANCE_MM -- cgit v1.2.3