#ifndef bot_h #define bot_h /* bot.h */ /* guybrush - Eurobot 2012 AI. {{{ * * Copyright (C) 2012 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 defines. */ /** 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 165 /** Distance from the robot axis to the lower clamp back. */ #define BOT_SIZE_LOWER_CLAMP_FRONT 100 /** Distance from the robot axis to the maximum occupied space when * loading. */ #define BOT_SIZE_LOADING_FRONT 275 /** Distance from the robot axis to the back. */ #define BOT_SIZE_BACK 135 /** Distance from the robot axis to the side. */ #define BOT_SIZE_SIDE 172 /** Maximum distance from the robot base center to one of its edge. */ #define BOT_SIZE_RADIUS 230 /** Maximum distance from the robot base center to one of its edge, at the * back. */ #define BOT_SIZE_BACK_RADIUS 180 /** Distance between the front contact point and the robot center. */ #define BOT_BACK_CONTACT_DIST_MM BOT_SIZE_BACK /** 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 /** Approach speed. */ #define BOT_SPEED_APPROACH 0x20, 0x30, 0x10, 0x20 #endif /* bot_h */