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 FOR COMPETITION 2011, Play Chess!
  20  *
  21  *        ^ +--------------------------+@------\
  22  *        | |   |     |                |        \
  23  *     ^  | |   -------                |    .....
  24  *   RR|  | | HOK     :                |  .       .
  25  *     v  | |  __  :                   | .         .
  26  *       W| | |__|                     |.           .
  27  *        | |  AF  :       AB          | .         .
  28  *        | |<---->:<----------------->|  .       .
  29  *        | |   -------                |   .......
  30  *        | |   |     |                |         /
  31  *        v +--------------------------+@-------/
  32  *  <<=            <-->                <--------->
  33  *   direction      WR                 JA
  34  *   of motion                         <------------>
  35  *                                      PW
  36  */
  37
  38 /* FIXME update robot's dimensions!!! */
  39 #define ROBOT_WIDTH_MM 310      /* W*/
  40 #define ROBOT_WIDTH_M (ROBOT_WIDTH_MM/1000.0)
  41 #define ROBOT_ROTATION_RADIUS_MM ((230)/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 50 /* AB */
  46 #define ROBOT_AXIS_TO_BACK_M (ROBOT_AXIS_TO_BACK_MM/1000.0)
  47 #define ROBOT_AXIS_TO_FRONT_MM 210 /* AF */
  48 #define ROBOT_AXIS_TO_FRONT_M (ROBOT_AXIS_TO_FRONT_MM/1000.0)
  49 #define ROBOT_HEIGHT_MM (ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM)
  50 #define ROBOT_HEIGHT_M (ROBOT_HEIGHT_MM / 1000.0)
  51
  52 #define HOKUYO_CENTER_OFFSET_MM 180
  53 #define HOKUYO_CENTER_OFFSET_M  (HOKUYO_CENTER_OFFSET_MM/1000.0)
  54 #define HOKUYO_RANGE_ANGLE_LEFT  70     /* view angle in degrees from center axis */
  55 #define HOKUYO_RANGE_ANGLE_RIGHT 70
  56 #define ODOMETRY_WHEEL_RADIUS_MM 30
  57 #define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
  58 #define ODOMETRY_ROTATION_RADIUS_MM (284/2)
  59 #define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
  60 #define ROBOT_JAWS_LENGHT_MM 130 /* JA */
  61 #define ROBOT_JAWS_LENGHT_M (ROBOT_JAWS_LENGHT_MM/1000.0)
  62 #define ROBOT_LENGHT_WITH_PANWS_MM 170 /* PW */
  63 #define ROBOT_LENGHT_WITH_PAWNS_M (ROBOT_LENGHT_WITH_PANWS_MM/1000.0)
  64 #define ROBOT_AXIS_TO_FIGURE_CENTER_MM 300
  65 #define ROBOT_AXIS_TO_FIGURE_CENTER_M (ROBOT_AXIS_TO_FIGURE_CENTER_MM/1000.0)
  66
  67 #define ROBOT_START_X_MM        ROBOT_AXIS_TO_BACK_MM
  68 #define ROBOT_START_X_M (ROBOT_START_X_MM / 1000.0)
  69 #define ROBOT_START_Y_MM        (PLAYGROUND_HEIGHT_MM - (ROBOT_WIDTH_MM / 2))
  70 #define ROBOT_START_Y_M (ROBOT_START_Y_MM / 1000.0)
  71 #define ROBOT_START_ANGLE_DEG   0
  72 /* maxon motor parameters ratio */
  73 /* DO NOT change this if not shure what you are doing !!! */
  74 #define ROBOT_MOTOR_GEARBOX_RATIO       29.0
  75 #define ROBOT_MOTOR_IRC_RESOLUTION      512.0
  76
  77 /**
  78  * PLAYGROUND DIMENSIONS
  79  *
  80  *            S2                                                                  R3
  81  *            +---------------------------------+---------------------------------+
  82  *        ^   |               |                                              [W,H]|
  83  *        |   |    SL_T_R     |                                                   |
  84  *        |   |<------------->|                                                   |
  85  *        |   |               |                                                   |
  86  *        |   |                                                                   |
  87  *        |   |                                                                   |
  88  *        |   |                                                                   |
  89  *        |   |                                                                   |
  90  *      H | R1|                                                                   |S1
  91  *        |   |                                                                   |
  92  *        |   |                                                                   |
  93  *        |   |                                                                   |
  94  *        |   |                                                                   |
  95  *        |   |                                                                   |
  96  *        |   |                                                                   |
  97  *        |   |                                                                   |
  98  *        v   |[0,0]                                                              |
  99  *            +---------------------------------+---------------------------------+
 100  *            S3                                                                  R2
 101  *             <----------------------------------------------------------------->
 102  *                                              W
 103  */
 104 #define PLAYGROUND_WIDTH_MM     3000
 105 #define PLAYGROUND_WIDTH_M      (PLAYGROUND_WIDTH_MM/1000.0)
 106 #define PLAYGROUND_HEIGHT_MM    2000
 107 #define PLAYGROUND_HEIGHT_M     (PLAYGROUND_HEIGHT_MM/1000.0)
 108
 109 #define SLOPE_TO_RIM_MM         740
 110 #define SLOPE_TO_RIM_M          (SLOPE_TO_RIM_MM/1000.0)
 111 #define SLOPE_LENGTH_MM         519.23
 112 #define SLOPE_LENGTH_M          (SLOPE_LENGTH_MM/1000.0)
 113
 114 #define SQUARE_WIDTH_MM                 350
 115 #define SQUARE_HEIGHT_MM                350
 116
 117 #define BLINE_WIDTH_MM                  50
 118 #define BLINE_HEIGHT_MM                 2100
 119
 120 #define BLOCK_WIDTH_MM                  400
 121 #define BLOCK_HEIGHT_MM                 22
 122
 123 #define STARTAREA_WIDTH_MM              500
 124 #define STARTAREA_HEIGHT_MM             500
 125
 126 #define DISPENSING_WIDTH_MM             400
 127 #define DISPENSING_HEIGHT_MM            1678
 128
 129 #define PROTECTEDBORDER_WIDTH_MM        22
 130 #define PROTECTEDBORDER_HEIGHT_MM       130
 131
 132 #define PROTECTEDBLOCK_WIDTH_MM         700
 133 #define PROTECTEDBLOCK_HEIGHT_MM        120
 134
 135 #define FIGURE_WIDTH_MM                 200
 136
 137 #define CORN_DIAMETER_MM        50
 138 #define CORN_DIAMETER_M         (CORN_DIAMETER_MM/1000.0)
 139 #define CORN_RADIUS_MM          (50/2)
 140 #define CORN_RADIUS_M           (CORN_RADIUS_MM/1000.0)
 141
 142 #define CORN_NEIGHBOURHOOD_RADIUS_MM    220
 143 #define CORN_NEIGHBOURHOOD_RADIUS_M     (CORN_NEIGHBOURHOOD_RADIUS_MM/1000.0)
 144 /*
 145  * 3 ultrasonic beacons
 146  */
 147 #define BEACON_WIDTH            0.08
 148 #define BEACON_HEIGHT           BEACON_WIDTH
 149
 150 #define BEACON_GREEN            0
 151 #define BEACON_RED              1
 152 #define BEACON_CNT              3
 153
 154 /* bonus squares */
 155 #define BONUS_CNT               6
 156
 157 /* pawns */
 158 #define PAWN_CNT                15
 159
 160 /* king */
 161 #define KING_CNT                2
 162
 163 /* queen */
 164 #define QUEEN_CNT               2
 165
 166 #define SQ_CNTR 15
 167
 168
 169 struct beacon_pos {
 170         float x, y;
 171 };
 172
 173 struct bonus_pos {
 174         int x, y;
 175 };
 176
 177 struct pawn_pos {
 178         int x, y;
 179 };
 180
 181 struct king_pos {
 182         int x, y;
 183 };
 184
 185 struct queen_pos {
 186         int x, y;
 187 };
 188
 189 struct square_center_red {
 190         float x, y;
 191 };
 192
 193 struct square_center_blue {
 194         float x, y;
 195 };
 196
 197 extern const struct beacon_pos beacon_green[BEACON_CNT];
 198 extern const struct beacon_pos beacon_red[BEACON_CNT];
 199 extern const struct bonus_pos bonus[BONUS_CNT];
 200 extern const struct pawn_pos pawn[PAWN_CNT];
 201 extern const struct king_pos king[KING_CNT];
 202 extern const struct queen_pos queen[QUEEN_CNT];
 203
 204 extern const struct square_center_red red_sq[SQ_CNTR];
 205 extern const struct square_center_blue blue_sq[SQ_CNTR];
 206
 207 /*
 208  * Position of Shapr sensors on the robot with respect to the robot center
 209  * (not used in EB2009)
 210  */
 211 struct sharp_pos {
 212         float x, y, ang;
 213 };
 214
 215 #define SHARP_COUNT 0  /* no sharp sensors in EB2009, I hope */
 216
 217 #endif /* ROBODIM_EB2008_H */