globals.h

00001 #ifndef GLOBALS_H
00002 #define GLOBALS_H
00003 
00004 #include "mbed.h"
00005 #define PI 3.14159265
00006 
00007 
00008 //#define ROBOT_SECONDARY
00009 
00010 //enables ui
00011 //#define UION
00012 
00013 #ifdef ROBOT_SECONDARY
00014 //Secondary Robot constants in mm
00015 const int robot_width = 260;
00016 const int encoderRevCount = 360;
00017 const int wheelmm = 229;
00018 const int robotCircumference = 816;
00019 
00020 
00021 #else
00022 #define ROBOT_PRIMARY
00023 // invert echo polarity for primary
00024 #define SONAR_ECHO_INV
00025 // Primary Robot constants
00026 const int robot_width = 390;
00027 const int encoderRevCount = 1856;
00028 const int wheelmm = 308;
00029 const int robotCircumference = 1150;
00030 #endif
00031 
00032 
00033 
00034 //Robot movement constants
00035 const float fwdvarperunit = 0.01; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
00036 const float varperang = 0.01; //around 1 degree stddev per 180 turn
00037 const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
00038 const float angvarpertime = 0.001;
00039 
00040 //sonar constants
00041 static const float sonarvariance = 0.005;
00042 
00043 //IR constants
00044 static const float IRvariance = 0.001;
00045 
00046 //Arena constants
00047 struct pos {
00048     int x;
00049     int y;
00050 };
00051 
00052 //beacon positions
00053 extern pos beaconpos[];
00054 
00055 //Colour
00056 extern bool Colour; // 1 for red, 0 for blue
00057 
00058 //System constants
00059 const int PREDICTPERIOD = 20; //ms
00060 
00061 //High speed serial port
00062 extern Serial pc;
00063 
00064 //I2C mutex
00065 //extern Mutex i2c_rlock;
00066 //extern Mutex i2c_wlock;
00067 
00068 
00069 // IR angle calc
00070 #define RELI_BOUND_LOW          4
00071 #define RELI_BOUND_HIGH         25
00072 
00073 // Movement target tolerances
00074 #define POSITION_TOR            20  // in mm
00075 #define ANGLE_TOR               0.06 // in rad
00076 
00077 // motion control
00078 
00079 #ifndef MOVE_SPEED_DEF
00080 #define MOVE_SPEED_DEF
00081 static int MOVE_SPEED = 35;
00082 #endif
00083 
00084 #define MAX_STEP_RATIO          0.10 //maximum change in the speed
00085 //#define TRACK_RATE              10       // +- rate for each wheel when tracking
00086 
00087 #ifdef ROBOT_PRIMARY
00088 #define FWD_MOVE_P 20//18
00089 #define SPIN_MOVE_P 7//5.8
00090 #else
00091 #define FWD_MOVE_P 3.2
00092 #define SPIN_MOVE_P 4
00093 #endif
00094 
00095 // Task suspend periods
00096 #define IR_TURRET_PERIOD        200
00097 #define MOTION_UPDATE_PERIOD    20
00098 
00099 #endif