src/robodim/robodim.h

   1 /*
   2  * robodim_eb2008.h                     08/04/18
   3  *
   4  * Dimensions for the robot, playground and other stuffs.
   5  * Eurobot 2008
   6  *
   7  * Copyright: (c) 2008 CTU Dragons
   8  *            CTU FEE - Department of Control Engineering
   9  * License: GNU GPL v.2
  10  */
  11
  12 #ifndef ROBODIM_EB2008_H
  13 #define ROBODIM_EB2008_H
  14
  15 /**
  16  * FIXME: update robot's dimensions !!!
  17  *
  18  * ROBOT DIMENSIONS
  19  *                                   S0
  20  *       S4 +--------------------------+ S2
  21  *        ^ |   |     |                |--,
  22  *     ^  | |   -------    ABE         |   |
  23  *   RR|  | |      :<--------------------->|
  24  *     v  | |      :             __    |--'
  25  *       W| |      + Center  (L)|__|   |
  26  *        | |  AB  :       AF    HOK   |--,
  27  *        | |<---->:<----------------->|   |
  28  *        | |   -------                |   |
  29  *        v |   |     |                |--'
  30  *       S5 +--------------------------+ S3
  31  *                 <-->              S1
  32  *                  WR
  33  *
  34  * Sx - Sharp sensor
  35  */
  36
  37 /* FIXME needs update (?) // comment added by Filip */
  38 #define ROBOT_WIDTH_MM 290      /* W*/
  39 #define ROBOT_WIDTH_M (ROBOT_WIDTH_MM/1000.0)
  40 #define ROBOT_ROTATION_RADIUS_MM (254/2) /* 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 40 /* 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 0 /*FIXME*/
  53 #define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
  54
  55 /**
  56  * PLAYGROUND DIMENSIONS
  57  *
  58  *            S2                          R3
  59  *            +-------------+-------------+
  60  *        ^   |                      [W,H]|
  61  *        |   |                           |
  62  *        |   |                           |
  63  *        |   |                           |
  64  *        |   |                           |
  65  *      H | R1+                           + S1
  66  *        |   |                           |
  67  *        | S4+                           + R4
  68  *        |   |                           |
  69  *        |   |                           |
  70  *        v   |[0,0]                      |
  71  *            +-------------+-------------+
  72  *            S3                          R2
  73  *             <------------------------->
  74  *                          W
  75  */
  76 #define PLAYGROUND_WIDTH_MM     3000
  77 #define PLAYGROUND_WIDTH_M      (PLAYGROUND_WIDTH_MM/1000.0)
  78 #define PLAYGROUND_HEIGHT_MM    2100
  79 #define PLAYGROUND_HEIGHT_M     (PLAYGROUND_HEIGHT_MM/1000.0)
  80
  81 /**
  82  * PUCK DISPENSERS (= COLUMN ELEMENT DISPENSERS)
  83  */
  84 #define STATIC_DISPENSER_WIDTH_OFFSET   0.289
  85 #define DISPENSER_TO_CUSHION_DISTANCE   0.04
  86 #define STATIC_DISPENSER_X              (PLAYGROUND_WIDTH_M - STATIC_DISPENSER_WIDTH_OFFSET)
  87 #define STATIC_DISPENSER_Y              DISPENSER_TO_CUSHION_DISTANCE
  88 #define TRAVELLING_DISPENSER_X          (PLAYGROUND_WIDTH - DISPENSER_TO_CUSHION_DISTANCE)
  89 // y coordinate of the travelling dispenser is not known in advance
  90 #define OPPONENTS_STATIC_DISPENSER_X    STATIC_DISPENSER_WIDTH_OFFSET
  91 #define OPPONENTS_STATIC_DISPENSER_Y    DISPENSER_TO_CUSHION_DISTANCE
  92
  93 /**
  94  * FREE PUCKS POSITIONS
  95  */
  96 #define PUCK_GRID_X_OFFSET      0.6
  97 #define PUCK_GRID_Y_OFFSET      0.925
  98 #define PUCK_GRID_DELTA_X       0.25
  99 #define PUCK_GRID_DELTA_Y       0.2
 100 #define PUCK_GRID_ROWS_NUM      4
 101 #define PUCK_GRID_COLS_NUM      3
 102
 103 struct puck_pos {
 104         float x, y;
 105 };
 106
 107 /*
 108  * boolean: free_puck_present[lot][ny][nx]
 109  */
 110 extern const char free_puck_present[10][4][3];
 111
 112 /*
 113  * tells, whether a puck is placed in grid at nx, ny
 114  * (lot=0..9, nx=0..2, ny=0..3)
 115  */
 116 #define FREE_PUCK_PRESENT(lot,nx,ny) (free_puck_present[lot][y][x])
 117
 118 /*
 119  * returns position of a free puck
 120  * (lot=0..9, nx=0..2, ny=0..3)
 121  *
 122  * !WARNING! The positions assume WE_ARE_GREEN
 123  * The pucks are sorted according to growing x, y,
 124  * ie. the nearest puck to the start position is @nx=0,ny=3
 125  * (yes, a stupid coord system...)
 126  */
 127 static inline struct puck_pos free_puck_pos(int lot, int nx, int ny) {
 128         struct puck_pos pos = {PUCK_GRID_X_OFFSET + nx*PUCK_GRID_DELTA_X,
 129                                PUCK_GRID_Y_OFFSET + ny*PUCK_GRID_DELTA_Y};
 130         return pos;
 131 }
 132
 133 /**
 134  * BASKET
 135  */
 136 #define BASKET_WIDTH            0.5
 137 #define BASKET_HEIGHT           0.34
 138 #define BASKET_VERT_OFFSET      0.35
 139
 140 #define BLUE_BASKET_TARGET_X    PLAYGROUND_WIDTH_M
 141 #define BLUE_BASKET_TARGET_Y    (BASKET_WIDTH/2.0)
 142
 143 #define RED_BASKET_TARGET_X     0
 144 #define RED_BASKET_TARGET_Y     (BASKET_WIDTH/2.0)
 145
 146 /*
 147  * 3 ultrasonic beacons
 148  */
 149 #define BEACON_WIDTH            0.08
 150 #define BEACON_HEIGHT           BEACON_WIDTH
 151
 152 #define BEACON_GREEN            0
 153 #define BEACON_RED              1
 154 #define BEACON_CNT              3
 155
 156 struct beacon_pos {
 157         float x, y;
 158 };
 159
 160 extern const struct beacon_pos beacon_green[BEACON_CNT];
 161 extern const struct beacon_pos beacon_red[BEACON_CNT];
 162
 163 /*
 164  * Position of Shapr sensors on the robot with respect to the robot center
 165  * (not used in EB2009)
 166  */
 167 struct sharp_pos {
 168         float x, y, ang;
 169 };
 170
 171 #define SHARP_COUNT 0  /* no sharp sensors in EB2009, I hope */
 172
 173 #endif /* ROBODIM_EB2008_H */