From 442a4e4da3699c6ea6390512bf67276c30a9e4ba Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 13 Apr 2010 23:39:31 +0200 Subject: digital/io/src: reduce blocking rectangle when near destination, refs #129 --- digital/io/src/radar.h | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) (limited to 'digital/io/src/radar.h') diff --git a/digital/io/src/radar.h b/digital/io/src/radar.h index e486b069..1e541a28 100644 --- a/digital/io/src/radar.h +++ b/digital/io/src/radar.h @@ -49,7 +49,12 @@ * OK, more explanations: when moving, a rectangle is placed in front of the * robot, of length RADAR_STOP_MM and width 2 * (RADAR_CLEARANCE_MM + * BOT_SIZE_SIDE). If an obstacle is inside this rectangle, it is considered - * in the way. */ + * in the way. + * + * If the destination point is near (< RADAR_STOP_MM - RADAR_CLEARANCE_MM), + * this reduce the rectangle length. + * + * If the destination is really near (< RADAR_EPSILON_MM), ignore all this. */ #define RADAR_CLEARANCE_MM 100 /** Destination distance near enough so that obstacles could be ignored. */ -- cgit v1.2.3