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) 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  *
  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 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 (245/2)
  57 #define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
  58
  59 /**
  60  * PLAYGROUND DIMENSIONS
  61  *
  62  *            S2                                                                  R3
  63  *            +---------------------------------+---------------------------------+
  64  *        ^   |                                                              [W,H]|
  65  *        |   |                                                                   |
  66  *        |   |                                                                   |
  67  *        |   |                                                                   |
  68  *        |   |                                                                   |
  69  *        |   |                                                                   |
  70  *        |   |                                                                   |
  71  *        |   |                                                                   |
  72  *      H | R1|                                                                   |S1
  73  *        |   |                                                                   |
  74  *        |   |                                                                   |
  75  *        |   |                                                                   |
  76  *        |   |                                                                   |
  77  *        |   |                                                                   |
  78  *        |   |                                                                   |
  79  *        |   |                                                                   |
  80  *        v   |[0,0]                                                              |
  81  *            +---------------------------------+---------------------------------+
  82  *            S3                                                                  R2
  83  *             <----------------------------------------------------------------->
  84  *                                              W
  85  */
  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)
  90
  91 /*
  92  * 3 ultrasonic beacons
  93  */
  94 #define BEACON_WIDTH            0.08
  95 #define BEACON_HEIGHT           BEACON_WIDTH
  96
  97 #define BEACON_GREEN            0
  98 #define BEACON_RED              1
  99 #define BEACON_CNT              3
 100
 101 struct beacon_pos {
 102         float x, y;
 103 };
 104
 105 extern const struct beacon_pos beacon_green[BEACON_CNT];
 106 extern const struct beacon_pos beacon_red[BEACON_CNT];
 107
 108 /*
 109  * Position of Shapr sensors on the robot with respect to the robot center
 110  * (not used in EB2009)
 111  */
 112 struct sharp_pos {
 113         float x, y, ang;
 114 };
 115
 116 #define SHARP_COUNT 0  /* no sharp sensors in EB2009, I hope */
 117
 118 #endif /* ROBODIM_EB2008_H */