Diff: globals.h

Revision:

25:143b19c1fb05

Parent:

24:7a3906c2f5d5

--- a/globals.h	Fri May 04 05:23:45 2012 +0000
+++ b/globals.h	Wed Oct 17 22:22:28 2012 +0000
@@ -34,8 +34,8 @@
 //Robot movement constants
 const float fwdvarperunit = 0.01; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
 const float varperang = 0.01; //around 1 degree stddev per 180 turn
-const float xyvarpertime = 0;//0.0005; //(very poorly) accounts for hitting things
-const float angvarpertime = 0;//0.001;
+const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
+const float angvarpertime = 0.001;
 
 //sonar constants
 static const float sonarvariance = 0.005;
@@ -71,7 +71,7 @@
 #define RELI_BOUND_HIGH         25
 
 // Movement target tolerances
-#define POSITION_TOR            40  // in mm
+#define POSITION_TOR            20  // in mm
 #define ANGLE_TOR               0.06 // in rad
 
 // motion control
@@ -85,8 +85,8 @@
 //#define TRACK_RATE              10       // +- rate for each wheel when tracking
 
 #ifdef ROBOT_PRIMARY
-#define FWD_MOVE_P 18
-#define SPIN_MOVE_P 5.8
+#define FWD_MOVE_P 20//18
+#define SPIN_MOVE_P 7//5.8
 #else
 #define FWD_MOVE_P 3.2
 #define SPIN_MOVE_P 4