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Classes
struct	beacon_pos
struct	bonus_pos
struct	pawn_pos
struct	king_pos
struct	queen_pos
struct	square_center_red
struct	square_center_blue
struct	sharp_pos
Defines
#define	ROBOT_WIDTH_MM 310
	FIXME: update robot's dimensions !!! and update the pitcture.
#define	ROBOT_WIDTH_M (ROBOT_WIDTH_MM/1000.0)
#define	ROBOT_ROTATION_RADIUS_MM ((230)/2)
#define	ROBOT_ROTATION_RADIUS_M (ROBOT_ROTATION_RADIUS_MM/1000.0)
#define	ROBOT_WHEEL_RADIUS_MM 38
#define	ROBOT_WHEEL_RADIUS_M (ROBOT_WHEEL_RADIUS_MM/1000.0)
#define	ROBOT_AXIS_TO_BACK_MM 50
#define	ROBOT_AXIS_TO_BACK_M (ROBOT_AXIS_TO_BACK_MM/1000.0)
#define	ROBOT_AXIS_TO_FRONT_MM 210
#define	ROBOT_AXIS_TO_FRONT_M (ROBOT_AXIS_TO_FRONT_MM/1000.0)
#define	ROBOT_HEIGHT_MM (ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM)
#define	ROBOT_HEIGHT_M (ROBOT_HEIGHT_MM / 1000.0)
#define	HOKUYO_CENTER_OFFSET_MM 180
#define	HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
#define	HOKUYO_RANGE_ANGLE_LEFT 70
#define	HOKUYO_RANGE_ANGLE_RIGHT 70
#define	ODOMETRY_WHEEL_RADIUS_MM 30
#define	ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
#define	ODOMETRY_ROTATION_RADIUS_MM (284/2)
#define	ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
#define	ROBOT_JAWS_LENGHT_MM 130
#define	ROBOT_JAWS_LENGHT_M (ROBOT_JAWS_LENGHT_MM/1000.0)
#define	ROBOT_LENGHT_WITH_PANWS_MM 170
#define	ROBOT_LENGHT_WITH_PAWNS_M (ROBOT_LENGHT_WITH_PANWS_MM/1000.0)
#define	ROBOT_AXIS_TO_FIGURE_CENTER_MM 300
#define	ROBOT_AXIS_TO_FIGURE_CENTER_M (ROBOT_AXIS_TO_FIGURE_CENTER_MM/1000.0)
#define	ROBOT_START_X_MM ROBOT_AXIS_TO_BACK_MM
#define	ROBOT_START_X_M (ROBOT_START_X_MM / 1000.0)
#define	ROBOT_START_Y_MM (PLAYGROUND_HEIGHT_MM - (ROBOT_WIDTH_MM / 2))
#define	ROBOT_START_Y_M (ROBOT_START_Y_MM / 1000.0)
#define	ROBOT_START_ANGLE_DEG 0
#define	ROBOT_MOTOR_GEARBOX_RATIO 29.0
#define	ROBOT_MOTOR_IRC_RESOLUTION 512.0
#define	PLAYGROUND_WIDTH_MM 3000
	PLAYGROUND DIMENSIONS.
#define	PLAYGROUND_WIDTH_M (PLAYGROUND_WIDTH_MM/1000.0)
#define	PLAYGROUND_HEIGHT_MM 2000
#define	PLAYGROUND_HEIGHT_M (PLAYGROUND_HEIGHT_MM/1000.0)
#define	SLOPE_TO_RIM_MM 740
#define	SLOPE_TO_RIM_M (SLOPE_TO_RIM_MM/1000.0)
#define	SLOPE_LENGTH_MM 519.23
#define	SLOPE_LENGTH_M (SLOPE_LENGTH_MM/1000.0)
#define	SQUARE_WIDTH_MM 350
#define	SQUARE_HEIGHT_MM 350
#define	BLINE_WIDTH_MM 50
#define	BLINE_HEIGHT_MM 2100
#define	BLOCK_WIDTH_MM 400
#define	BLOCK_HEIGHT_MM 22
#define	STARTAREA_WIDTH_MM 500
#define	STARTAREA_HEIGHT_MM 500
#define	DISPENSING_WIDTH_MM 400
#define	DISPENSING_HEIGHT_MM 1678
#define	PROTECTEDBORDER_WIDTH_MM 22
#define	PROTECTEDBORDER_HEIGHT_MM 130
#define	PROTECTEDBLOCK_WIDTH_MM 700
#define	PROTECTEDBLOCK_HEIGHT_MM 120
#define	FIGURE_WIDTH_MM 200
#define	CORN_DIAMETER_MM 50
#define	CORN_DIAMETER_M (CORN_DIAMETER_MM/1000.0)
#define	CORN_RADIUS_MM (50/2)
#define	CORN_RADIUS_M (CORN_RADIUS_MM/1000.0)
#define	CORN_NEIGHBOURHOOD_RADIUS_MM 220
#define	CORN_NEIGHBOURHOOD_RADIUS_M (CORN_NEIGHBOURHOOD_RADIUS_MM/1000.0)
#define	BEACON_WIDTH 0.08
#define	BEACON_HEIGHT BEACON_WIDTH
#define	BEACON_GREEN 0
#define	BEACON_RED 1
#define	BEACON_CNT 3
#define	BONUS_CNT 6
#define	PAWN_CNT 15
#define	KING_CNT 2
#define	QUEEN_CNT 2
#define	SQ_CNTR 15
#define	SHARP_COUNT 0
Variables
struct beacon_pos	beacon_green [BEACON_CNT]
struct beacon_pos	beacon_red [BEACON_CNT]
struct bonus_pos	bonus [BONUS_CNT]
struct pawn_pos	pawn [PAWN_CNT]
struct king_pos	king [KING_CNT]
struct queen_pos	queen [QUEEN_CNT]
struct square_center_red	red_sq [SQ_CNTR]
struct square_center_blue	blue_sq [SQ_CNTR]

Define Documentation

#define BEACON_CNT 3

#define BEACON_GREEN 0

#define BEACON_HEIGHT BEACON_WIDTH

#define BEACON_RED 1

#define BEACON_WIDTH 0.08

#define BLINE_HEIGHT_MM 2100

#define BLINE_WIDTH_MM 50

#define BLOCK_HEIGHT_MM 22

#define BLOCK_WIDTH_MM 400

#define BONUS_CNT 6

#define CORN_DIAMETER_M (CORN_DIAMETER_MM/1000.0)

#define CORN_DIAMETER_MM 50

#define CORN_NEIGHBOURHOOD_RADIUS_M (CORN_NEIGHBOURHOOD_RADIUS_MM/1000.0)

#define CORN_NEIGHBOURHOOD_RADIUS_MM 220

#define CORN_RADIUS_M (CORN_RADIUS_MM/1000.0)

#define CORN_RADIUS_MM (50/2)

#define DISPENSING_HEIGHT_MM 1678

#define DISPENSING_WIDTH_MM 400

#define FIGURE_WIDTH_MM 200

#define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)

#define HOKUYO_CENTER_OFFSET_MM 180

#define HOKUYO_RANGE_ANGLE_LEFT 70

#define HOKUYO_RANGE_ANGLE_RIGHT 70

#define KING_CNT 2

#define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)

#define ODOMETRY_ROTATION_RADIUS_MM (284/2)

#define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)

#define ODOMETRY_WHEEL_RADIUS_MM 30

#define PAWN_CNT 15

#define PLAYGROUND_HEIGHT_M (PLAYGROUND_HEIGHT_MM/1000.0)

#define PLAYGROUND_HEIGHT_MM 2000

#define PLAYGROUND_WIDTH_M (PLAYGROUND_WIDTH_MM/1000.0)

#define PLAYGROUND_WIDTH_MM 3000

PLAYGROUND DIMENSIONS.

S2 R3 +---------------------------------+---------------------------------+ ^ | | [W,H]| | | SL_T_R | | | |<------------->| | | | | | | | | | | | | | | | | | H | R1| |S1 | | | | | | | | | | | | | | | | | | | | | v |[0,0] | +---------------------------------+---------------------------------+ S3 R2 <-----------------------------------------------------------------> W

#define PROTECTEDBLOCK_HEIGHT_MM 120

#define PROTECTEDBLOCK_WIDTH_MM 700

#define PROTECTEDBORDER_HEIGHT_MM 130

#define PROTECTEDBORDER_WIDTH_MM 22

#define QUEEN_CNT 2

#define ROBOT_AXIS_TO_BACK_M (ROBOT_AXIS_TO_BACK_MM/1000.0)

#define ROBOT_AXIS_TO_BACK_MM 50

#define ROBOT_AXIS_TO_FIGURE_CENTER_M (ROBOT_AXIS_TO_FIGURE_CENTER_MM/1000.0)

#define ROBOT_AXIS_TO_FIGURE_CENTER_MM 300

#define ROBOT_AXIS_TO_FRONT_M (ROBOT_AXIS_TO_FRONT_MM/1000.0)

#define ROBOT_AXIS_TO_FRONT_MM 210

#define ROBOT_HEIGHT_M (ROBOT_HEIGHT_MM / 1000.0)

#define ROBOT_HEIGHT_MM (ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM)

#define ROBOT_JAWS_LENGHT_M (ROBOT_JAWS_LENGHT_MM/1000.0)

#define ROBOT_JAWS_LENGHT_MM 130

#define ROBOT_LENGHT_WITH_PANWS_MM 170

#define ROBOT_LENGHT_WITH_PAWNS_M (ROBOT_LENGHT_WITH_PANWS_MM/1000.0)

#define ROBOT_MOTOR_GEARBOX_RATIO 29.0

#define ROBOT_MOTOR_IRC_RESOLUTION 512.0

#define ROBOT_ROTATION_RADIUS_M (ROBOT_ROTATION_RADIUS_MM/1000.0)

#define ROBOT_ROTATION_RADIUS_MM ((230)/2)

#define ROBOT_START_ANGLE_DEG 0

#define ROBOT_START_X_M (ROBOT_START_X_MM / 1000.0)

#define ROBOT_START_X_MM ROBOT_AXIS_TO_BACK_MM

#define ROBOT_START_Y_M (ROBOT_START_Y_MM / 1000.0)

#define ROBOT_START_Y_MM (PLAYGROUND_HEIGHT_MM - (ROBOT_WIDTH_MM / 2))

#define ROBOT_WHEEL_RADIUS_M (ROBOT_WHEEL_RADIUS_MM/1000.0)

#define ROBOT_WHEEL_RADIUS_MM 38

#define ROBOT_WIDTH_M (ROBOT_WIDTH_MM/1000.0)

#define ROBOT_WIDTH_MM 310

FIXME: update robot's dimensions !!! and update the pitcture.

ROBOT DIMENSIONS FOR COMPETITION 2011, Play Chess!

^ +--------------------------+@------\ | | | | | \ ^ | | ------- | ..... RR| | | HOK : | . . v | | __ : | . . W| | |__| |. . | | AF : AB | . . | |<---->:<----------------->| . . | | ------- | ....... | | | | | / v +--------------------------+@-------/ <<= <--> <---------> direction WR JA of motion <------------> PW

#define SHARP_COUNT 0

#define SLOPE_LENGTH_M (SLOPE_LENGTH_MM/1000.0)

#define SLOPE_LENGTH_MM 519.23

#define SLOPE_TO_RIM_M (SLOPE_TO_RIM_MM/1000.0)

#define SLOPE_TO_RIM_MM 740

#define SQ_CNTR 15

#define SQUARE_HEIGHT_MM 350

#define SQUARE_WIDTH_MM 350

#define STARTAREA_HEIGHT_MM 500

#define STARTAREA_WIDTH_MM 500