summaryrefslogtreecommitdiff
path: root/digital/io-hub/src/apbirthday/bot.hh
blob: 5817a4784812a03e2854e8b2efec3ff587625dd1 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
#ifndef bot_hh
#define bot_hh
// io-hub - Modular Input/Output. {{{
//
// Copyright (C) 2013 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 definitions.

/// 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 102
/// Distance from the robot axis to the back.
#define BOT_SIZE_BACK 108
/// Distance from the robot axis to the side.
#define BOT_SIZE_SIDE 140
/// Maximum distance from the robot base center to one of its edge.
#define BOT_SIZE_RADIUS 177

/// Distance between the front contact point and the robot center.
#define BOT_FRONT_CONTACT_DIST BOT_SIZE_FRONT
/// 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

#endif // bot_hh