Robot rotation radius updated, not accurate (+- 2-3deg) but it works.

[eurobot/public.git] / src / robodim / robodim.h

diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h
index 5d189d88134d7ae187d4963a5fe9b61994df0b3f..104431843e362fdb6fe9596c6635ae8bedc1691d 100644 (file)
--- a/src/robodim/robodim.h
+++ b/src/robodim/robodim.h
@@ -37,7 +37,7 @@
 /* FIXME update robot's dimensions!!! */
 #define ROBOT_WIDTH_MM 290     /* W*/
 #define ROBOT_WIDTH_M (ROBOT_WIDTH_MM/1000.0)
-#define ROBOT_ROTATION_RADIUS_MM (260/2) /* RR */
+#define ROBOT_ROTATION_RADIUS_MM ((188)/2) /* RR */
 #define ROBOT_ROTATION_RADIUS_M (ROBOT_ROTATION_RADIUS_MM/1000.0)
 #define LASER_CENTER_OFFSET_MM 50 /*FIXME*/ /* Distance of the laser from rotation axis (Center to L) */
 #define LASER_CENTER_OFFSET_M (LASER_CENTER_OFFSET_MM/1000.0)
@@ -50,7 +50,11 @@
 #define ROBOT_AXIS_TO_BRUSH_MM 280 /* ABE */
 #define ROBOT_AXIS_TO_BRUSH_M (ROBOT_AXIS_TO_BRUSH_MM/1000.0)
 #define HOKUYO_CENTER_OFFSET_MM 170
-#define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
+#define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
+#define ODOMETRY_WHEEL_RADIUS_MM 60
+#define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
+#define ODOMETRY_ROTATION_RADIUS_MM (245/2)
+#define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
 
 /**
  * PLAYGROUND DIMENSIONS