robodim: Add decimal part to all dimension definitions.

diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h
index edf3160277c7a3248cc31327e9925fd8d33e6f3e..c294b7bda3e0411f6772d992f204dc1edb66d3ee 100644 (file)
--- a/src/robodim/robodim.h
+++ b/src/robodim/robodim.h
@@ -36,40 +36,44 @@
  */
 
 /* FIXME update robot's dimensions!!! */
-#define ROBOT_WIDTH_MM 310     /* W*/
+#define ROBOT_WIDTH_MM 310.0   /* W*/
 #define ROBOT_WIDTH_M (ROBOT_WIDTH_MM/1000.0)
-#define ROBOT_ROTATION_RADIUS_MM ((230)/2) /* RR */
+#define ROBOT_ROTATION_RADIUS_MM ((230.0)/2.0) /* RR */
 #define ROBOT_ROTATION_RADIUS_M (ROBOT_ROTATION_RADIUS_MM/1000.0)
-#define ROBOT_WHEEL_RADIUS_MM 38 /* WR */
+#define ROBOT_WHEEL_RADIUS_MM 38.0 /* WR */
 #define ROBOT_WHEEL_RADIUS_M (ROBOT_WHEEL_RADIUS_MM/1000.0)
-#define ROBOT_AXIS_TO_BACK_MM 50 /* AB */
+#define ROBOT_AXIS_TO_BACK_MM 50.0 /* AB */
 #define ROBOT_AXIS_TO_BACK_M (ROBOT_AXIS_TO_BACK_MM/1000.0)
-#define ROBOT_AXIS_TO_FRONT_MM 210 /* AF */
+#define ROBOT_AXIS_TO_FRONT_MM 210.0 /* AF */
 #define ROBOT_AXIS_TO_FRONT_M (ROBOT_AXIS_TO_FRONT_MM/1000.0)
 #define ROBOT_HEIGHT_MM (ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM)
 #define ROBOT_HEIGHT_M (ROBOT_HEIGHT_MM / 1000.0)
 
-#define HOKUYO_CENTER_OFFSET_MM 180
+#define HOKUYO_CENTER_OFFSET_MM         70.0
 #define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
 #define HOKUYO_RANGE_ANGLE_LEFT  120.0     /* view angle in degrees from center axis */
 #define HOKUYO_RANGE_ANGLE_RIGHT 120.0
-#define ODOMETRY_WHEEL_RADIUS_MM 30
 #define HOKUYO_ORIENTATION       (-1)   /* 1 = screws up, -1 = screws down */
+
+#define ODOMETRY_WHEEL_RADIUS_MM 30.0
 #define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
-#define ODOMETRY_ROTATION_RADIUS_MM (284/2)
+#define ODOMETRY_ROTATION_RADIUS_MM (284.0/2.0)
 #define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
-#define ROBOT_JAWS_LENGHT_MM 130 /* JA */
+
+#define ROBOT_JAWS_LENGHT_MM 130.0 /* JA */
 #define ROBOT_JAWS_LENGHT_M (ROBOT_JAWS_LENGHT_MM/1000.0)
-#define ROBOT_LENGHT_WITH_PANWS_MM 170 /* PW */ 
+#define ROBOT_LENGHT_WITH_PANWS_MM 170.0 /* PW */ 
 #define ROBOT_LENGHT_WITH_PAWNS_M (ROBOT_LENGHT_WITH_PANWS_MM/1000.0)
-#define ROBOT_AXIS_TO_FIGURE_CENTER_MM 300
+
+#define ROBOT_AXIS_TO_FIGURE_CENTER_MM 300.0
 #define ROBOT_AXIS_TO_FIGURE_CENTER_M (ROBOT_AXIS_TO_FIGURE_CENTER_MM/1000.0)
 
 #define ROBOT_START_X_MM       ROBOT_AXIS_TO_BACK_MM
-#define ROBOT_START_X_M        (ROBOT_START_X_MM / 1000.0)
-#define ROBOT_START_Y_MM       (PLAYGROUND_HEIGHT_MM - (ROBOT_WIDTH_MM / 2))
-#define ROBOT_START_Y_M        (ROBOT_START_Y_MM / 1000.0)
-#define ROBOT_START_ANGLE_DEG  0
+#define ROBOT_START_X_M         (ROBOT_START_X_MM / 1000.0)
+#define ROBOT_START_Y_MM        (PLAYGROUND_HEIGHT_MM - (ROBOT_WIDTH_MM / 2.0))
+#define ROBOT_START_Y_M         (ROBOT_START_Y_MM / 1000.0)
+#define ROBOT_START_ANGLE_DEG   0
+
 /* maxon motor parameters ratio */
 /* DO NOT change this if not shure what you are doing !!! */
 #define ROBOT_MOTOR_GEARBOX_RATIO      29.0