4 * Dimensions for the robot, playground and other stuff.
7 * Copyright: (c) 2010 CTU Dragons
8 * CTU FEE - Department of Control Engineering
12 #ifndef ROBODIM_EB2010_H
13 #define ROBODIM_EB2010_H
16 * FIXME: update robot's dimensions !!!
20 * S4 +--------------------------+ S2
22 * ^ | | ------- ABE | |
23 * RR| | | :<--------------------->|
25 * W| | + Center (L)|__| |
26 * | | AB : AF HOK |--,
27 * | |<---->:<----------------->| |
30 * S5 +--------------------------+ S3
37 /* FIXME update robot's dimensions!!! */
38 #define ROBOT_WIDTH_MM 290 /* W*/
39 #define ROBOT_WIDTH_M (ROBOT_WIDTH_MM/1000.0)
40 #define ROBOT_ROTATION_RADIUS_MM ((188)/2) /* RR */
41 #define ROBOT_ROTATION_RADIUS_M (ROBOT_ROTATION_RADIUS_MM/1000.0)
42 #define LASER_CENTER_OFFSET_MM 50 /*FIXME*/ /* Distance of the laser from rotation axis (Center to L) */
43 #define LASER_CENTER_OFFSET_M (LASER_CENTER_OFFSET_MM/1000.0)
44 #define ROBOT_WHEEL_RADIUS_MM 38 /* WR */
45 #define ROBOT_WHEEL_RADIUS_M (ROBOT_WHEEL_RADIUS_MM/1000.0)
46 #define ROBOT_AXIS_TO_BACK_MM 75 /* AB */
47 #define ROBOT_AXIS_TO_BACK_M (ROBOT_AXIS_TO_BACK_MM/1000.0)
48 #define ROBOT_AXIS_TO_FRONT_MM 183 /* AF */
49 #define ROBOT_AXIS_TO_FRONT_M (ROBOT_AXIS_TO_FRONT_MM/1000.0)
50 #define ROBOT_AXIS_TO_BRUSH_MM 280 /* ABE */
51 #define ROBOT_AXIS_TO_BRUSH_M (ROBOT_AXIS_TO_BRUSH_MM/1000.0)
52 #define HOKUYO_CENTER_OFFSET_MM 170
53 #define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
54 #define ODOMETRY_WHEEL_RADIUS_MM 30
55 #define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
56 #define ODOMETRY_ROTATION_RADIUS_MM (246/2)
57 #define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
60 * PLAYGROUND DIMENSIONS
63 * +---------------------------------+---------------------------------+
81 * +---------------------------------+---------------------------------+
83 * <----------------------------------------------------------------->
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)
92 * 3 ultrasonic beacons
94 #define BEACON_WIDTH 0.08
95 #define BEACON_HEIGHT BEACON_WIDTH
97 #define BEACON_GREEN 0
105 extern const struct beacon_pos beacon_green[BEACON_CNT];
106 extern const struct beacon_pos beacon_red[BEACON_CNT];
109 * Position of Shapr sensors on the robot with respect to the robot center
110 * (not used in EB2009)
116 #define SHARP_COUNT 0 /* no sharp sensors in EB2009, I hope */
118 #endif /* ROBODIM_EB2008_H */