/*
- * robodim_eb2008.h 08/04/18
+ * robodim_eb2010.h
*
- * Dimensions for the robot, playground and other stuffs.
- * Eurobot 2008
+ * Dimensions for the robot, playground and other stuff.
+ * Eurobot 2010
*
- * Copyright: (c) 2008 CTU Dragons
+ * Copyright: (c) 2010 CTU Dragons
* CTU FEE - Department of Control Engineering
* License: GNU GPL v.2
*/
-#ifndef ROBODIM_EB2008_H
-#define ROBODIM_EB2008_H
+#ifndef ROBODIM_EB2010_H
+#define ROBODIM_EB2010_H
/**
* FIXME: update robot's dimensions !!!
* Sx - Sharp sensor
*/
-/* FIXME needs update (?) // comment added by Filip */
+/* 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 HOKUYO_CENTER_OFFSET_MM 170
#define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
-#define ROBOT_AXIS_TO_PUCK_M 0.2 // puck approach distance
-#define PUCK_REACHABLE(x) ((x<0.13)?true:false)
-#define PUCK_INSIDE(x) ((x<=0.055)?true:false)
-
/**
* PLAYGROUND DIMENSIONS
*
* ^ | [W,H]|
* | | |
* | | |
- * | |^ ^|
- * | || G G G G G G ||
- * | || ||
- * | |O? G G G G G G ||
- * | || ||
- * H | R1+| G G G G G G |+ S1
- * | || ||
- * | || G G G G G G ?T|
- * | || ||
- * | || ||
- * | |v v|
* | | |
* | | |
- * v |[0,0] O S |
+ * | | |
+ * | | |
+ * | | |
+ * H | R1| |S1
+ * | | |
+ * | | |
+ * | | |
+ * | | |
+ * | | |
+ * | | |
+ * | | |
+ * v |[0,0] |
* +---------------------------------+---------------------------------+
* S3 R2
* <----------------------------------------------------------------->
* W
- *
- * G - grid for pucks
- * O? - opponent's "travelling" dispenser
- * O - opponent's static dispenser
- * S - our static dispenser
- * ?T - our travelling dispenser
- *
*/
#define PLAYGROUND_WIDTH_MM 3000
#define PLAYGROUND_WIDTH_M (PLAYGROUND_WIDTH_MM/1000.0)
#define PLAYGROUND_HEIGHT_MM 2100
#define PLAYGROUND_HEIGHT_M (PLAYGROUND_HEIGHT_MM/1000.0)
-#define ACROPOLIS_CENTER_X (PLAYGROUND_WIDTH_M/2.0)
-#define ACROPOLIS_CENTER_Y (PLAYGROUND_HEIGHT_M/2.0)
-#define ACROPOLIS_RADIUS 0.15
-#define ACROPOLIS_DIAMETER (ACROPOLIS_RADIUS*2.0)
-
-/**
- * PUCK DISPENSERS (= COLUMN ELEMENT DISPENSERS)
- */
-#define STATIC_DISPENSER_X_OFFSET 0.289
-#define DISPENSER_TO_CUSHION_DISTANCE 0.04
-#define STATIC_DISPENSER_X (PLAYGROUND_WIDTH_M - STATIC_DISPENSER_X_OFFSET)
-#define STATIC_DISPENSER_Y DISPENSER_TO_CUSHION_DISTANCE
-#define TRAVELLING_DISPENSER_X (PLAYGROUND_WIDTH - DISPENSER_TO_CUSHION_DISTANCE) // in the "PLAYGROUND DIMENSIONS" ASCII art: O?
-/* y coordinate of the travelling dispenser is not known in advance */
-#define OPPONENTS_STATIC_DISPENSER_X STATIC_DISPENSER_X_OFFSET // in the "PLAYGROUND DIMENSIONS" ASCII art: O
-#define OPPONENTS_STATIC_DISPENSER_Y DISPENSER_TO_CUSHION_DISTANCE // in the "PLAYGROUND DIMENSIONS" ASCII art: O
-
-/**
- * FREE PUCKS POSITIONS
- */
-#define PUCK_GRID_X_OFFSET 0.6
-#define PUCK_GRID_Y_OFFSET 0.925
-#define PUCK_GRID_DELTA_X 0.25
-#define PUCK_GRID_DELTA_Y 0.2
-#define PUCK_GRID_ROWS_NUM 4
-#define PUCK_GRID_COLS_NUM 3
-
-struct puck_pos {
- float x, y; /* In meters */
-};
-
-/*
- * boolean: free_puck_present[lot][ny][nx]
- */
-extern const char free_puck_present[10][4][3];
-
-/*
- * tells, whether a puck is placed in grid at nx, ny
- * (lot=0..9, nx=0..2, ny=0..3)
- */
-#define FREE_PUCK_PRESENT(lot,nx,ny) (free_puck_present[lot][y][x])
-
-/*
- * returns position of a free puck
- * (nx=0..2, ny=0..3)
- *
- * !WARNING! The positions assume WE_ARE_GREEN
- * The pucks are sorted according to growing x, y,
- * ie. the nearest puck to the start position is @nx=0,ny=3
- * (yes, a stupid coord system...)
- */
-static inline struct puck_pos free_puck_pos(int nx, int ny) {
- struct puck_pos pos = {PUCK_GRID_X_OFFSET + nx*PUCK_GRID_DELTA_X,
- PUCK_GRID_Y_OFFSET + ny*PUCK_GRID_DELTA_Y};
- return pos;
-}
-
-/**
- * BASKET
- */
-#define BASKET_WIDTH 0.5
-#define BASKET_HEIGHT 0.34
-#define BASKET_VERT_OFFSET 0.35
-
-#define BLUE_BASKET_TARGET_X PLAYGROUND_WIDTH_M
-#define BLUE_BASKET_TARGET_Y (BASKET_WIDTH/2.0)
-
-#define RED_BASKET_TARGET_X 0
-#define RED_BASKET_TARGET_Y (BASKET_WIDTH/2.0)
-
/*
* 3 ultrasonic beacons
*/
projects / eurobot / public.git / blobdiff