src/robodim/robodim.h

   1 /*
   2  * robodim.h
   3  *
   4  * Dimensions for the robot, playground and other stuff.
   5  * Demo application
   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 ROBODIMH
  13 #define ROBODIMH
  14
  15 /**
  16  * FIXME: update robot's dimensions !!!
  17  *        and update the pitcture
  18  *
  19  * ROBOT DIMENSIONS
  20  *
  21  *        ^ +--------------------------+
  22  *        | |   |     |                |
  23  *     ^  | |   -------                |
  24  *   RR|  | |      :                   |
  25  *     v  | |      :             __    |
  26  *       W| |      + Center     |__|   |
  27  *        | |  AB  :       AF    HOK   |
  28  *        | |<---->:<----------------->|
  29  *        | |   -------                |
  30  *        | |   |     |                |
  31  *        v +--------------------------+
  32  * <------->       <-->
  33  *     V            WR
  34  *
  35  */
  36
  37 #define ROBOT_WIDTH_MM 280      /* W*/
  38 #define ROBOT_WIDTH_M (ROBOT_WIDTH_MM/1000.0)
  39 #define ROBOT_ROTATION_RADIUS_MM ((230.0)/2.0) /* RR */
  40 #define ROBOT_ROTATION_RADIUS_M (ROBOT_ROTATION_RADIUS_MM/1000.0)
  41 #define ROBOT_WHEEL_RADIUS_MM 38.0 /* WR */
  42 #define ROBOT_WHEEL_RADIUS_M (ROBOT_WHEEL_RADIUS_MM/1000.0)
  43 #define ROBOT_AXIS_TO_BACK_MM 50.0 /* AB */
  44 #define ROBOT_AXIS_TO_BACK_M (ROBOT_AXIS_TO_BACK_MM/1000.0)
  45 #define ROBOT_AXIS_TO_FRONT_MM 210.0 /* AF */
  46 #define ROBOT_AXIS_TO_FRONT_M (ROBOT_AXIS_TO_FRONT_MM/1000.0)
  47 #define ROBOT_HEIGHT_MM (ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM)
  48 #define ROBOT_HEIGHT_M (ROBOT_HEIGHT_MM / 1000.0)
  49
  50 #define HOKUYO_CENTER_OFFSET_MM         180.0
  51 #define HOKUYO_CENTER_OFFSET_M  (HOKUYO_CENTER_OFFSET_MM/1000.0)
  52 #define HOKUYO_RANGE_ANGLE_LEFT  70.0     /* view angle in degrees from center axis */
  53 #define HOKUYO_RANGE_ANGLE_RIGHT 70.0
  54 #define HOKUYO_ORIENTATION       (1)   /* 1 = screws up, -1 = screws down */
  55
  56 #define SICK_CENTER_OFFSET_MM         180.0
  57 #define SICK_CENTER_OFFSET_M  (SICK_CENTER_OFFSET_MM/1000.0)
  58 #define SICK_RANGE_ANGLE_LEFT  135.0     /* view angle in degrees from center axis */
  59 #define SICK_RANGE_ANGLE_RIGHT 135.0
  60 #define SICK_ORIENTATION       (1)   /* 1 = screws up, -1 = screws down */
  61
  62 #define ODOMETRY_WHEEL_RADIUS_MM 30.0
  63 #define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
  64 #define ODOMETRY_ROTATION_RADIUS_MM (284.0/2.0)
  65 #define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
  66 #define ROBOT_DIAGONAL_RADIUS_MM sqrt((ROBOT_WIDTH_MM*ROBOT_WIDTH_MM/4) + (ROBOT_AXIS_TO_FRONT_MM*ROBOT_AXIS_TO_FRONT_MM))
  67 #define ROBOT_DIAGONAL_RADIUS_M (ROBOT_DIAGONAL_RADIUS_MM/1000.0)
  68
  69 #define ROBOT_JAWS_LENGHT_MM 130.0 /* JA */
  70 #define ROBOT_JAWS_LENGHT_M (ROBOT_JAWS_LENGHT_MM/1000.0)
  71 #define ROBOT_LENGHT_WITH_PANWS_MM 170.0 /* PW */
  72 #define ROBOT_LENGHT_WITH_PAWNS_M (ROBOT_LENGHT_WITH_PANWS_MM/1000.0)
  73
  74 #define ROBOT_AXIS_TO_FIGURE_CENTER_MM 300.0
  75 #define ROBOT_AXIS_TO_FIGURE_CENTER_M (ROBOT_AXIS_TO_FIGURE_CENTER_MM/1000.0)
  76
  77 #define ROBOT_START_X_MM        (ROBOT_WIDTH_MM / 2.0 + 50.0)
  78 #define ROBOT_START_X_M         (ROBOT_START_X_MM / 1000.0)
  79 #define ROBOT_START_Y_MM        (ROBOT_AXIS_TO_BACK_MM + 150.0)
  80 #define ROBOT_START_Y_M         (ROBOT_START_Y_MM / 1000.0)
  81 #define ROBOT_START_ANGLE_DEG   90
  82
  83 /* maxon motor parameters ratio */
  84 /* DO NOT change this if not shure what you are doing !!! */
  85 #define ROBOT_MOTOR_GEARBOX_RATIO       29.0
  86 #define ROBOT_MOTOR_IRC_RESOLUTION      512.0
  87
  88 /**
  89  * PLAYGROUND DIMENSIONS
  90  */
  91 #define PLAYGROUND_WIDTH_MM     1400
  92 #define PLAYGROUND_WIDTH_M      (PLAYGROUND_WIDTH_MM/1000.0)
  93 #define PLAYGROUND_HEIGHT_MM    2800
  94 #define PLAYGROUND_HEIGHT_M     (PLAYGROUND_HEIGHT_MM/1000.0)
  95
  96 /**
  97  * TARGET DIMENSIONS
  98  */
  99 #define TARGET_RADIUS_MM     125
 100 #define TARGET_RADIUS_M      (TARGET_RADIUS_MM/1000.0)
 101
 102 struct sharp_pos {
 103         float x, y, ang;
 104 };
 105
 106 #endif /* ROBODIMH */