Shuto Naruse / Mbed 2 deprecated Eurobot2012_Primary

Eurobot2012_Primary

Dependencies:   mbed Eurobot_2012_Primary

globals.h@26:0995f61cb7b8, 2012-10-17 (annotated)

Committer:
narshu
Date:
Wed Oct 17 22:22:47 2012 +0000
Revision:
26:0995f61cb7b8
Parent:
25:143b19c1fb05 
Eurobot 2012 Primary;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 0:f3bf6c7e2283 1 #ifndef GLOBALS_H
narshu 0:f3bf6c7e2283 2 #define GLOBALS_H
narshu 0:f3bf6c7e2283 3
narshu 9:377560539b74 4 #include "mbed.h"
narshu 9:377560539b74 5 #define PI 3.14159265
narshu 9:377560539b74 6
narshu 21:15da49f18c63 7
narshu 21:15da49f18c63 8 //#define ROBOT_SECONDARY
narshu 21:15da49f18c63 9
narshu 14:24f994dc2770 10 //enables ui
narshu 22:7ba09c0af0d0 11 //#define UION
narshu 14:24f994dc2770 12
narshu 9:377560539b74 13 #ifdef ROBOT_SECONDARY
narshu 5:7ac07bf30707 14 //Secondary Robot constants in mm
narshu 5:7ac07bf30707 15 const int robot_width = 260;
narshu 5:7ac07bf30707 16 const int encoderRevCount = 360;
narshu 22:7ba09c0af0d0 17 const int wheelmm = 229;
narshu 5:7ac07bf30707 18 const int robotCircumference = 816;
narshu 0:f3bf6c7e2283 19
narshu 5:7ac07bf30707 20
narshu 9:377560539b74 21 #else
narshu 9:377560539b74 22 #define ROBOT_PRIMARY
narshu 9:377560539b74 23 // invert echo polarity for primary
narshu 9:377560539b74 24 #define SONAR_ECHO_INV
narshu 9:377560539b74 25 // Primary Robot constants
narshu 9:377560539b74 26 const int robot_width = 390;
narshu 9:377560539b74 27 const int encoderRevCount = 1856;
narshu 22:7ba09c0af0d0 28 const int wheelmm = 308;
narshu 9:377560539b74 29 const int robotCircumference = 1150;
narshu 9:377560539b74 30 #endif
narshu 0:f3bf6c7e2283 31
narshu 5:7ac07bf30707 32
narshu 1:bbabbd997d21 33
narshu 1:bbabbd997d21 34 //Robot movement constants
narshu 14:24f994dc2770 35 const float fwdvarperunit = 0.01; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
narshu 14:24f994dc2770 36 const float varperang = 0.01; //around 1 degree stddev per 180 turn
narshu 25:143b19c1fb05 37 const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
narshu 25:143b19c1fb05 38 const float angvarpertime = 0.001;
narshu 1:bbabbd997d21 39
narshu 1:bbabbd997d21 40 //sonar constants
narshu 1:bbabbd997d21 41 static const float sonarvariance = 0.005;
narshu 0:f3bf6c7e2283 42
narshu 9:377560539b74 43 //IR constants
narshu 9:377560539b74 44 static const float IRvariance = 0.001;
narshu 9:377560539b74 45
narshu 0:f3bf6c7e2283 46 //Arena constants
narshu 0:f3bf6c7e2283 47 struct pos {
narshu 0:f3bf6c7e2283 48 int x;
narshu 0:f3bf6c7e2283 49 int y;
narshu 0:f3bf6c7e2283 50 };
narshu 22:7ba09c0af0d0 51
narshu 23:1901cb6d0d95 52 //beacon positions
narshu 23:1901cb6d0d95 53 extern pos beaconpos[];
narshu 22:7ba09c0af0d0 54
narshu 23:1901cb6d0d95 55 //Colour
narshu 23:1901cb6d0d95 56 extern bool Colour; // 1 for red, 0 for blue
narshu 0:f3bf6c7e2283 57
narshu 1:bbabbd997d21 58 //System constants
narshu 1:bbabbd997d21 59 const int PREDICTPERIOD = 20; //ms
narshu 0:f3bf6c7e2283 60
narshu 0:f3bf6c7e2283 61 //High speed serial port
narshu 0:f3bf6c7e2283 62 extern Serial pc;
narshu 0:f3bf6c7e2283 63
narshu 0:f3bf6c7e2283 64 //I2C mutex
narshu 0:f3bf6c7e2283 65 //extern Mutex i2c_rlock;
narshu 0:f3bf6c7e2283 66 //extern Mutex i2c_wlock;
narshu 0:f3bf6c7e2283 67
narshu 0:f3bf6c7e2283 68
narshu 0:f3bf6c7e2283 69 // IR angle calc
narshu 0:f3bf6c7e2283 70 #define RELI_BOUND_LOW 4
narshu 0:f3bf6c7e2283 71 #define RELI_BOUND_HIGH 25
narshu 0:f3bf6c7e2283 72
narshu 10:294b9adbc9d3 73 // Movement target tolerances
narshu 25:143b19c1fb05 74 #define POSITION_TOR 20 // in mm
narshu 23:1901cb6d0d95 75 #define ANGLE_TOR 0.06 // in rad
narshu 0:f3bf6c7e2283 76
narshu 0:f3bf6c7e2283 77 // motion control
narshu 24:7a3906c2f5d5 78
narshu 24:7a3906c2f5d5 79 #ifndef MOVE_SPEED_DEF
narshu 24:7a3906c2f5d5 80 #define MOVE_SPEED_DEF
narshu 24:7a3906c2f5d5 81 static int MOVE_SPEED = 35;
narshu 24:7a3906c2f5d5 82 #endif
narshu 24:7a3906c2f5d5 83
narshu 0:f3bf6c7e2283 84 #define MAX_STEP_RATIO 0.10 //maximum change in the speed
narshu 0:f3bf6c7e2283 85 //#define TRACK_RATE 10 // +- rate for each wheel when tracking
narshu 0:f3bf6c7e2283 86
narshu 10:294b9adbc9d3 87 #ifdef ROBOT_PRIMARY
narshu 25:143b19c1fb05 88 #define FWD_MOVE_P 20//18
narshu 25:143b19c1fb05 89 #define SPIN_MOVE_P 7//5.8
narshu 10:294b9adbc9d3 90 #else
narshu 10:294b9adbc9d3 91 #define FWD_MOVE_P 3.2
narshu 10:294b9adbc9d3 92 #define SPIN_MOVE_P 4
narshu 10:294b9adbc9d3 93 #endif
narshu 10:294b9adbc9d3 94
narshu 0:f3bf6c7e2283 95 // Task suspend periods
narshu 0:f3bf6c7e2283 96 #define IR_TURRET_PERIOD 200
narshu 0:f3bf6c7e2283 97 #define MOTION_UPDATE_PERIOD 20
narshu 0:f3bf6c7e2283 98
narshu 0:f3bf6c7e2283 99 #endif