src/robodim/robodim.h

   1 /*
   2  * robodim_eb2010.h
   3  *
   4  * Dimensions for the robot, playground and other stuff.
   5  * Eurobot 2010
   6  *
   7  * Copyright: (c) 2008 - 2010 CTU Dragons
   8  *            CTU FEE - Department of Control Engineering
   9  * License: GNU GPL v.2
  10  */
  11
  12 #ifndef ROBODIM_EB2010_H
  13 #define ROBODIM_EB2010_H
  14
  15 /**
  16  * FIXME: update robot's dimensions !!!
  17  *        and update the pitcture
  18  *
  19  * ROBOT DIMENSIONS
  20  *
  21  *        ^ +--------------------------+
  22  *        | |   |     |                |
  23  *     ^  | |   -------                |
  24  *   RR|  | |      :                   |
  25  *     v  | |      :             __    |
  26  *       W| |      + Center     |__|   |
  27  *        | |  AB  :       AF    HOK   |
  28  *        | |<---->:<----------------->|
  29  *        | |   -------                |
  30  *        | |   |     |                |
  31  *        v +--------------------------+
  32  * <------->       <-->
  33  *     V            WR
  34  *
  35  * Sx - Sharp sensor
  36  */
  37
  38 /* FIXME update robot's dimensions!!! */
  39 #define ROBOT_WIDTH_MM 280      /* W*/
  40 #define ROBOT_WIDTH_M (ROBOT_WIDTH_MM/1000.0)
  41 #define ROBOT_ROTATION_RADIUS_MM ((188)/2) /* RR */
  42 #define ROBOT_ROTATION_RADIUS_M (ROBOT_ROTATION_RADIUS_MM/1000.0)
  43 #define ROBOT_WHEEL_RADIUS_MM 38 /* WR */
  44 #define ROBOT_WHEEL_RADIUS_M (ROBOT_WHEEL_RADIUS_MM/1000.0)
  45 #define ROBOT_AXIS_TO_BACK_MM 230 /* AB */
  46 #define ROBOT_AXIS_TO_BACK_M (ROBOT_AXIS_TO_BACK_MM/1000.0)
  47 #define ROBOT_AXIS_TO_FRONT_MM 65 /* AF */
  48 #define ROBOT_AXIS_TO_FRONT_M (ROBOT_AXIS_TO_FRONT_MM/1000.0)
  49 #define ROBOT_AXIS_TO_BRUSH_MM 50 /* ABE */ // FIXME: update the value and rename (no brushes)
  50 #define ROBOT_AXIS_TO_BRUSH_M (ROBOT_AXIS_TO_BRUSH_MM/1000.0)
  51 #define HOKUYO_CENTER_OFFSET_MM 35 // FIXME
  52 #define HOKUYO_CENTER_OFFSET_M  (HOKUYO_CENTER_OFFSET_MM/1000.0)
  53 #define ODOMETRY_WHEEL_RADIUS_MM 30
  54 #define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
  55 #define ODOMETRY_ROTATION_RADIUS_MM (246/2)
  56 #define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
  57 #define ROBOT_VIDLE_LENGTH_M 0.2 /* V */ /* FIXME: Measure the right value */
  58
  59 /**
  60  * PLAYGROUND DIMENSIONS
  61  *
  62  *            S2                                                                  R3
  63  *            +---------------------------------+---------------------------------+
  64  *        ^   |               |                                              [W,H]|
  65  *        |   |    SL_T_R     |                                                   |
  66  *        |   |<------------->|                                                   |
  67  *        |   |               |                                                   |
  68  *        |   |                                                                   |
  69  *        |   |                                                                   |
  70  *        |   |                                                                   |
  71  *        |   |                                                                   |
  72  *      H | R1|                                                                   |S1
  73  *        |   |                                                                   |
  74  *        |   |                                                                   |
  75  *        |   |                                                                   |
  76  *        |   |                                                                   |
  77  *        |   |                                                                   |
  78  *        |   |                                                                   |
  79  *        |   |                                                                   |
  80  *        v   |[0,0]                                                              |
  81  *            +---------------------------------+---------------------------------+
  82  *            S3                                                                  R2
  83  *             <----------------------------------------------------------------->
  84  *                                              W
  85  */
  86 #define PLAYGROUND_WIDTH_MM     3000
  87 #define PLAYGROUND_WIDTH_M      (PLAYGROUND_WIDTH_MM/1000.0)
  88 #define PLAYGROUND_HEIGHT_MM    2100
  89 #define PLAYGROUND_HEIGHT_M     (PLAYGROUND_HEIGHT_MM/1000.0)
  90
  91 #define SLOPE_TO_RIM_MM         740
  92 #define SLOPE_TO_RIM_M          (SLOPE_TO_RIM_MM/1000.0)
  93 #define SLOPE_LENGTH_MM         519.23
  94 #define SLOPE_LENGTH_M          (SLOPE_LENGTH_MM/1000.0)
  95
  96 #define SQUARE_WIDTH_MM                 350
  97 #define SQUARE_HEIGHT_MM                350
  98
  99 #define BLINE_WIDTH_MM                  50
 100 #define BLINE_HEIGHT_MM                 2100
 101
 102 #define BLOCK_WIDTH_MM                  400
 103 #define BLOCK_HEIGHT_MM                 22
 104
 105 #define STARTAREA_WIDTH_MM              400
 106 #define STARTAREA_HEIGHT_MM             400
 107
 108 #define DISPENSING_WIDTH_MM             400
 109 #define DISPENSING_HEIGHT_MM            1678
 110
 111 #define PROTECTEDBORDER_WIDTH_MM        22
 112 #define PROTECTEDBORDER_HEIGHT_MM       130
 113
 114 #define PROTECTEDBLOCK_WIDTH_MM         700
 115 #define PROTECTEDBLOCK_HEIGHT_MM        120
 116
 117 #define FIGURE_WIDTH_MM                 200
 118
 119 #define CORN_DIAMETER_MM        50
 120 #define CORN_DIAMETER_M         (CORN_DIAMETER_MM/1000.0)
 121 #define CORN_RADIUS_MM          (50/2)
 122 #define CORN_RADIUS_M           (CORN_RADIUS_MM/1000.0)
 123
 124 #define CORN_NEIGHBOURHOOD_RADIUS_MM    220
 125 #define CORN_NEIGHBOURHOOD_RADIUS_M     (CORN_NEIGHBOURHOOD_RADIUS_MM/1000.0)
 126 /*
 127  * 3 ultrasonic beacons
 128  */
 129 #define BEACON_WIDTH            0.08
 130 #define BEACON_HEIGHT           BEACON_WIDTH
 131
 132 #define BEACON_GREEN            0
 133 #define BEACON_RED              1
 134 #define BEACON_CNT              3
 135
 136 /* bonus squares */
 137 #define BONUS_CNT               6
 138
 139 /* pawns */
 140 #define PAWN_CNT                15
 141
 142 /* king */
 143 #define KING_CNT                2
 144
 145 /* queen */
 146 #define QUEEN_CNT               2
 147
 148 struct beacon_pos {
 149         float x, y;
 150 };
 151
 152 struct bonus_pos {
 153         int x, y;
 154 };
 155
 156 struct pawn_pos {
 157         int x, y;
 158 };
 159
 160 struct king_pos {
 161         int x, y;
 162 };
 163
 164 struct queen_pos {
 165         int x, y;
 166 };
 167
 168 extern const struct beacon_pos beacon_green[BEACON_CNT];
 169 extern const struct beacon_pos beacon_red[BEACON_CNT];
 170 extern const struct bonus_pos bonus[BONUS_CNT];
 171 extern const struct pawn_pos pawn[PAWN_CNT];
 172 extern const struct king_pos king[KING_CNT];
 173 extern const struct queen_pos queen[QUEEN_CNT];
 174
 175 /*
 176  * Position of Shapr sensors on the robot with respect to the robot center
 177  * (not used in EB2009)
 178  */
 179 struct sharp_pos {
 180         float x, y, ang;
 181 };
 182
 183 #define SHARP_COUNT 0  /* no sharp sensors in EB2009, I hope */
 184
 185 #endif /* ROBODIM_EB2008_H */