Shuto Naruse / Mbed 2 deprecated Eurobot2012_Primary

Eurobot2012_Primary

Dependencies:   mbed Eurobot_2012_Primary

globals.h@0:f3bf6c7e2283, 2012-04-20 (annotated)

Committer:
narshu
Date:
Fri Apr 20 20:39:35 2012 +0000
Revision:
0:f3bf6c7e2283
Child:
1:bbabbd997d21
inverted sonar echo input at pin14 and pin15

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 0:f3bf6c7e2283 4 #include "mbed.h"
narshu 0:f3bf6c7e2283 5
narshu 0:f3bf6c7e2283 6 #define PI 3.14159265
narshu 0:f3bf6c7e2283 7
narshu 0:f3bf6c7e2283 8 //Robot constants
narshu 0:f3bf6c7e2283 9 //const int encoderRevCount = 1856;
narshu 0:f3bf6c7e2283 10 //const int wheelmm = 314;
narshu 0:f3bf6c7e2283 11 //const int robotCircumference = 1256;
narshu 0:f3bf6c7e2283 12
narshu 0:f3bf6c7e2283 13 //Robot constants in mm
narshu 0:f3bf6c7e2283 14 const int robot_width = 260;
narshu 0:f3bf6c7e2283 15 const int encoderRevCount = 360;
narshu 0:f3bf6c7e2283 16 const int wheelmm = 226;
narshu 0:f3bf6c7e2283 17 const int robotCircumference = 816;
narshu 0:f3bf6c7e2283 18
narshu 0:f3bf6c7e2283 19 //Arena constants
narshu 0:f3bf6c7e2283 20 struct pos {
narshu 0:f3bf6c7e2283 21 int x;
narshu 0:f3bf6c7e2283 22 int y;
narshu 0:f3bf6c7e2283 23 };
narshu 0:f3bf6c7e2283 24 const pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}};
narshu 0:f3bf6c7e2283 25
narshu 0:f3bf6c7e2283 26 //sonar constants
narshu 0:f3bf6c7e2283 27 static const float sonarvariance = 0.004;
narshu 0:f3bf6c7e2283 28
narshu 0:f3bf6c7e2283 29 //High speed serial port
narshu 0:f3bf6c7e2283 30 extern Serial pc;
narshu 0:f3bf6c7e2283 31
narshu 0:f3bf6c7e2283 32 //I2C mutex
narshu 0:f3bf6c7e2283 33 //extern Mutex i2c_rlock;
narshu 0:f3bf6c7e2283 34 //extern Mutex i2c_wlock;
narshu 0:f3bf6c7e2283 35
narshu 0:f3bf6c7e2283 36
narshu 0:f3bf6c7e2283 37 // IR angle calc
narshu 0:f3bf6c7e2283 38 #define RELI_BOUND_LOW 4
narshu 0:f3bf6c7e2283 39 #define RELI_BOUND_HIGH 25
narshu 0:f3bf6c7e2283 40
narshu 0:f3bf6c7e2283 41 // Localization estimate torrelences
narshu 0:f3bf6c7e2283 42 #define POSITION_TOR 80
narshu 0:f3bf6c7e2283 43 #define ANGLE_TOR 0.15
narshu 0:f3bf6c7e2283 44
narshu 0:f3bf6c7e2283 45 // motion control
narshu 0:f3bf6c7e2283 46 #define ROTA_SPEED 40
narshu 0:f3bf6c7e2283 47 #define MOVE_SPEED 50
narshu 0:f3bf6c7e2283 48 #define MAX_STEP_RATIO 0.10 //maximum change in the speed
narshu 0:f3bf6c7e2283 49 //#define TRACK_RATE 10 // +- rate for each wheel when tracking
narshu 0:f3bf6c7e2283 50
narshu 0:f3bf6c7e2283 51 // Task suspend periods
narshu 0:f3bf6c7e2283 52 #define IR_TURRET_PERIOD 200
narshu 0:f3bf6c7e2283 53 #define MOTION_UPDATE_PERIOD 20
narshu 0:f3bf6c7e2283 54
narshu 0:f3bf6c7e2283 55
narshu 0:f3bf6c7e2283 56
narshu 0:f3bf6c7e2283 57 #endif