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  *        |   ||        G    G    G                           G    G    G        ||
  65  *        |   ||                                                                 ||
  66  *        |   |O?       G    G    G                           G    G    G        ||
  67  *        |   ||                                                                 ||
  68  *      H | R1+|        G    G    G                           G    G    G        |+ S1
  69  *        |   ||                                                                 ||
  70  *        |   ||        G    G    G                           G    G    G       ?T|
  71  *        |   ||                                                                 ||
  72  *        |   ||                                                                 ||
  73  *        |   |v                                                                 v|
  74  *        |   |                                                                   |
  75  *        |   |                                                                   |
  76  *        v   |[0,0]  O                                                   S       |
  77  *            +---------------------------------+---------------------------------+
  78  *            S3                                                                  R2
  79  *             <----------------------------------------------------------------->
  80  *                                              W
  81  *
  82  *                 G  - grid for pucks
  83  *                 O? - opponent's "travelling" dispenser
  84  *                 O  - opponent's static dispenser
  85  *                 S  - our static dispenser
  86  *                 ?T - our travelling dispenser
  87  *
  88  */
  89 #define PLAYGROUND_WIDTH_MM     3000
  90 #define PLAYGROUND_WIDTH_M      (PLAYGROUND_WIDTH_MM/1000.0)
  91 #define PLAYGROUND_HEIGHT_MM    2100
  92 #define PLAYGROUND_HEIGHT_M     (PLAYGROUND_HEIGHT_MM/1000.0)
  93
  94 /**
  95  * PUCK DISPENSERS (= COLUMN ELEMENT DISPENSERS)
  96  */
  97 #define STATIC_DISPENSER_X_OFFSET       0.289
  98 #define DISPENSER_TO_CUSHION_DISTANCE   0.04
  99 #define STATIC_DISPENSER_X              (PLAYGROUND_WIDTH_M - STATIC_DISPENSER_X_OFFSET)
 100 #define STATIC_DISPENSER_Y              DISPENSER_TO_CUSHION_DISTANCE
 101 #define TRAVELLING_DISPENSER_X          (PLAYGROUND_WIDTH - DISPENSER_TO_CUSHION_DISTANCE)      // in the "PLAYGROUND DIMENSIONS" ASCII art: O?
 102 // y coordinate of the travelling dispenser is not known in advance                             // in the "PLAYGROUND DIMENSIONS" ASCII art: O?
 103 #define OPPONENTS_STATIC_DISPENSER_X    STATIC_DISPENSER_X_OFFSET                               // in the "PLAYGROUND DIMENSIONS" ASCII art: O
 104 #define OPPONENTS_STATIC_DISPENSER_Y    DISPENSER_TO_CUSHION_DISTANCE                           // in the "PLAYGROUND DIMENSIONS" ASCII art: O
 105
 106 /**
 107  * FREE PUCKS POSITIONS
 108  */
 109 #define PUCK_GRID_X_OFFSET      0.6
 110 #define PUCK_GRID_Y_OFFSET      0.925
 111 #define PUCK_GRID_DELTA_X       0.25
 112 #define PUCK_GRID_DELTA_Y       0.2
 113 #define PUCK_GRID_ROWS_NUM      4
 114 #define PUCK_GRID_COLS_NUM      3
 115
 116 struct puck_pos {
 117         float x, y;
 118 };
 119
 120 /*
 121  * boolean: free_puck_present[lot][ny][nx]
 122  */
 123 extern const char free_puck_present[10][4][3];
 124
 125 /*
 126  * tells, whether a puck is placed in grid at nx, ny
 127  * (lot=0..9, nx=0..2, ny=0..3)
 128  */
 129 #define FREE_PUCK_PRESENT(lot,nx,ny) (free_puck_present[lot][y][x])
 130
 131 /*
 132  * returns position of a free puck
 133  * (lot=0..9, nx=0..2, ny=0..3)
 134  *
 135  * !WARNING! The positions assume WE_ARE_GREEN
 136  * The pucks are sorted according to growing x, y,
 137  * ie. the nearest puck to the start position is @nx=0,ny=3
 138  * (yes, a stupid coord system...)
 139  */
 140 static inline struct puck_pos free_puck_pos(int lot, int nx, int ny) {
 141         struct puck_pos pos = {PUCK_GRID_X_OFFSET + nx*PUCK_GRID_DELTA_X,
 142                                PUCK_GRID_Y_OFFSET + ny*PUCK_GRID_DELTA_Y};
 143         return pos;
 144 }
 145
 146 /**
 147  * BASKET
 148  */
 149 #define BASKET_WIDTH            0.5
 150 #define BASKET_HEIGHT           0.34
 151 #define BASKET_VERT_OFFSET      0.35
 152
 153 #define BLUE_BASKET_TARGET_X    PLAYGROUND_WIDTH_M
 154 #define BLUE_BASKET_TARGET_Y    (BASKET_WIDTH/2.0)
 155
 156 #define RED_BASKET_TARGET_X     0
 157 #define RED_BASKET_TARGET_Y     (BASKET_WIDTH/2.0)
 158
 159 /*
 160  * 3 ultrasonic beacons
 161  */
 162 #define BEACON_WIDTH            0.08
 163 #define BEACON_HEIGHT           BEACON_WIDTH
 164
 165 #define BEACON_GREEN            0
 166 #define BEACON_RED              1
 167 #define BEACON_CNT              3
 168
 169 struct beacon_pos {
 170         float x, y;
 171 };
 172
 173 extern const struct beacon_pos beacon_green[BEACON_CNT];
 174 extern const struct beacon_pos beacon_red[BEACON_CNT];
 175
 176 /*
 177  * Position of Shapr sensors on the robot with respect to the robot center
 178  * (not used in EB2009)
 179  */
 180 struct sharp_pos {
 181         float x, y, ang;
 182 };
 183
 184 #define SHARP_COUNT 0  /* no sharp sensors in EB2009, I hope */
 185
 186 #endif /* ROBODIM_EB2008_H */