Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Diff: globals.h
- Revision:
- 22:7ba09c0af0d0
- Parent:
- 21:15da49f18c63
- Child:
- 23:1901cb6d0d95
--- a/globals.h Tue May 01 16:54:44 2012 +0000 +++ b/globals.h Thu May 03 14:20:04 2012 +0000 @@ -6,17 +6,17 @@ //#define ROBOT_SECONDARY -#define STARTLOC_RED -//#define STARTLOC_BLUE +//#define STARTLOC_RED +#define STARTLOC_BLUE //enables ui -#define UION +//#define UION #ifdef ROBOT_SECONDARY //Secondary Robot constants in mm const int robot_width = 260; const int encoderRevCount = 360; -const int wheelmm = 226; +const int wheelmm = 229; const int robotCircumference = 816; @@ -27,7 +27,7 @@ // Primary Robot constants const int robot_width = 390; const int encoderRevCount = 1856; -const int wheelmm = 304; +const int wheelmm = 308; const int robotCircumference = 1150; #endif @@ -50,10 +50,14 @@ int x; int y; }; + +// Red start #ifdef STARTLOC_RED const pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}}; -#elif STARTLOC_BLUE -const pos beaconpos[] = {{0, 1000},{3000,2000}, {3000,0}}; + +// Blue Start +#else +const pos beaconpos[] = {{0, 1000},{3000,0}, {3000,2000}}; #endif //System constants @@ -72,8 +76,8 @@ #define RELI_BOUND_HIGH 25 // Movement target tolerances -#define POSITION_TOR 50 -#define ANGLE_TOR 0.1 +#define POSITION_TOR 30 // in mm +#define ANGLE_TOR 0.1 // in rad // motion control #define MOVE_SPEED 20