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  120.0     /* view angle in degrees from center axis */
  55 #define HOKUYO_RANGE_ANGLE_RIGHT 120.0
  56 #define ODOMETRY_WHEEL_RADIUS_MM 30
  57 #define HOKUYO_ORIENTATION       (-1)   /* 1 = screws up, -1 = screws down */
  58 #define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
  59 #define ODOMETRY_ROTATION_RADIUS_MM (284/2)
  60 #define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
  61 #define ROBOT_JAWS_LENGHT_MM 130 /* JA */
  62 #define ROBOT_JAWS_LENGHT_M (ROBOT_JAWS_LENGHT_MM/1000.0)
  63 #define ROBOT_LENGHT_WITH_PANWS_MM 170 /* PW */
  64 #define ROBOT_LENGHT_WITH_PAWNS_M (ROBOT_LENGHT_WITH_PANWS_MM/1000.0)
  65 #define ROBOT_AXIS_TO_FIGURE_CENTER_MM 300
  66 #define ROBOT_AXIS_TO_FIGURE_CENTER_M (ROBOT_AXIS_TO_FIGURE_CENTER_MM/1000.0)
  67
  68 #define ROBOT_START_X_MM        ROBOT_AXIS_TO_BACK_MM
  69 #define ROBOT_START_X_M (ROBOT_START_X_MM / 1000.0)
  70 #define ROBOT_START_Y_MM        (PLAYGROUND_HEIGHT_MM - (ROBOT_WIDTH_MM / 2))
  71 #define ROBOT_START_Y_M (ROBOT_START_Y_MM / 1000.0)
  72 #define ROBOT_START_ANGLE_DEG   0
  73 /* maxon motor parameters ratio */
  74 /* DO NOT change this if not shure what you are doing !!! */
  75 #define ROBOT_MOTOR_GEARBOX_RATIO       29.0
  76 #define ROBOT_MOTOR_IRC_RESOLUTION      512.0
  77
  78 /**
  79  * PLAYGROUND DIMENSIONS
  80  *
  81  *            S2                                                                  R3
  82  *            +---------------------------------+---------------------------------+
  83  *        ^   |               |                                              [W,H]|
  84  *        |   |    SL_T_R     |                                                   |
  85  *        |   |<------------->|                                                   |
  86  *        |   |               |                                                   |
  87  *        |   |                                                                   |
  88  *        |   |                                                                   |
  89  *        |   |                                                                   |
  90  *        |   |                                                                   |
  91  *      H | R1|                                                                   |S1
  92  *        |   |                                                                   |
  93  *        |   |                                                                   |
  94  *        |   |                                                                   |
  95  *        |   |                                                                   |
  96  *        |   |                                                                   |
  97  *        |   |                                                                   |
  98  *        |   |                                                                   |
  99  *        v   |[0,0]                                                              |
 100  *            +---------------------------------+---------------------------------+
 101  *            S3                                                                  R2
 102  *             <----------------------------------------------------------------->
 103  *                                              W
 104  */
 105 #define PLAYGROUND_WIDTH_MM     3000
 106 #define PLAYGROUND_WIDTH_M      (PLAYGROUND_WIDTH_MM/1000.0)
 107 #define PLAYGROUND_HEIGHT_MM    2000
 108 #define PLAYGROUND_HEIGHT_M     (PLAYGROUND_HEIGHT_MM/1000.0)
 109
 110 #define SLOPE_TO_RIM_MM         740
 111 #define SLOPE_TO_RIM_M          (SLOPE_TO_RIM_MM/1000.0)
 112 #define SLOPE_LENGTH_MM         519.23
 113 #define SLOPE_LENGTH_M          (SLOPE_LENGTH_MM/1000.0)
 114
 115 #define SQUARE_WIDTH_MM                 350
 116 #define SQUARE_HEIGHT_MM                350
 117
 118 #define BLINE_WIDTH_MM                  50
 119 #define BLINE_HEIGHT_MM                 2100
 120
 121 #define BLOCK_WIDTH_MM                  400
 122 #define BLOCK_HEIGHT_MM                 22
 123
 124 #define STARTAREA_WIDTH_MM              500
 125 #define STARTAREA_HEIGHT_MM             500
 126
 127 #define DISPENSING_WIDTH_MM             400
 128 #define DISPENSING_HEIGHT_MM            1678
 129
 130 #define PROTECTEDBORDER_WIDTH_MM        22
 131 #define PROTECTEDBORDER_HEIGHT_MM       130
 132
 133 #define PROTECTEDBLOCK_WIDTH_MM         700
 134 #define PROTECTEDBLOCK_HEIGHT_MM        120
 135
 136 #define FIGURE_WIDTH_MM                 200
 137
 138 #define CORN_DIAMETER_MM        50
 139 #define CORN_DIAMETER_M         (CORN_DIAMETER_MM/1000.0)
 140 #define CORN_RADIUS_MM          (50/2)
 141 #define CORN_RADIUS_M           (CORN_RADIUS_MM/1000.0)
 142
 143 #define CORN_NEIGHBOURHOOD_RADIUS_MM    220
 144 #define CORN_NEIGHBOURHOOD_RADIUS_M     (CORN_NEIGHBOURHOOD_RADIUS_MM/1000.0)
 145 /*
 146  * 3 ultrasonic beacons
 147  */
 148 #define BEACON_WIDTH            0.08
 149 #define BEACON_HEIGHT           BEACON_WIDTH
 150
 151 #define BEACON_GREEN            0
 152 #define BEACON_RED              1
 153 #define BEACON_CNT              3
 154
 155 /* bonus squares */
 156 #define BONUS_CNT               6
 157
 158 /* pawns */
 159 #define PAWN_CNT                15
 160
 161 /* king */
 162 #define KING_CNT                2
 163
 164 /* queen */
 165 #define QUEEN_CNT               2
 166
 167 #define SQ_CNTR 15
 168
 169
 170 struct beacon_pos {
 171         float x, y;
 172 };
 173
 174 struct bonus_pos {
 175         int x, y;
 176 };
 177
 178 struct pawn_pos {
 179         int x, y;
 180 };
 181
 182 struct king_pos {
 183         int x, y;
 184 };
 185
 186 struct queen_pos {
 187         int x, y;
 188 };
 189
 190 struct square_center_red {
 191         float x, y;
 192 };
 193
 194 struct square_center_blue {
 195         float x, y;
 196 };
 197
 198 extern const struct beacon_pos beacon_green[BEACON_CNT];
 199 extern const struct beacon_pos beacon_red[BEACON_CNT];
 200 extern const struct bonus_pos bonus[BONUS_CNT];
 201 extern const struct pawn_pos pawn[PAWN_CNT];
 202 extern const struct king_pos king[KING_CNT];
 203 extern const struct queen_pos queen[QUEEN_CNT];
 204
 205 extern const struct square_center_red red_sq[SQ_CNTR];
 206 extern const struct square_center_blue blue_sq[SQ_CNTR];
 207
 208 /*
 209  * Position of Shapr sensors on the robot with respect to the robot center
 210  * (not used in EB2009)
 211  */
 212 struct sharp_pos {
 213         float x, y, ang;
 214 };
 215
 216 #define SHARP_COUNT 0  /* no sharp sensors in EB2009, I hope */
 217
 218 #endif /* ROBODIM_EB2008_H */