ROBODIM: change robot dimension for competition 2011, play chess!

diff --git a/src/common/.kdev_include_paths b/src/common/.kdev_include_paths
new file mode 100644 (file)
index 0000000..cfe193b
--- /dev/null
+++ b/src/common/.kdev_include_paths
@@ -0,0 +1 @@
+~/git_ebot/build/host/_compiled/include

diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h
index 0336d79aff9b2eb22b535972e4696d0d3d0d56b3..0d43d724c74f65215fba63b23baf9bebf72cb7b7 100644 (file)
--- a/src/robodim/robodim.h
+++ b/src/robodim/robodim.h
@@ -16,45 +16,47 @@
  * FIXME: update robot's dimensions !!!
  *        and update the pitcture
  *
- * ROBOT DIMENSIONS
+ * ROBOT DIMENSIONS FOR COMPETITION 2011, Play Chess!
  *
- *        ^ +--------------------------+
- *        | |   |     |                |
- *     ^  | |   -------                |
- *   RR|  | |      :                   |
- *     v  | |      :             __    |
- *       W| |      + Center     |__|   |
- *        | |  AB  :       AF    HOK   |
- *        | |<---->:<----------------->|
- *        | |   -------                |
- *        | |   |     |                |
- *        v +--------------------------+
- * <------->       <-->
- *     V            WR
- *
- * Sx - Sharp sensor
+ *        ^ +--------------------------+@------\
+ *        | |   |     |                |        \
+ *     ^  | |   -------                |    .....
+ *   RR|  | | HOK     :                |  .       .
+ *     v  | |  __  :                   | .         .
+ *       W| | |__|                     |.           .
+ *        | |  AF  :       AB          | .         .
+ *        | |<---->:<----------------->|  .       . 
+ *        | |   -------                |   .......
+ *        | |   |     |                |         /
+ *        v +--------------------------+@-------/
+ *  <<=            <-->                <--------->
+ *   direction      WR                 JA
+ *   of motion                        <------------>
+ *                                     PW
  */
 
 /* FIXME update robot's dimensions!!! */
-#define ROBOT_WIDTH_MM 280     /* W*/
+#define ROBOT_WIDTH_MM 310     /* W*/
 #define ROBOT_WIDTH_M (ROBOT_WIDTH_MM/1000.0)
-#define ROBOT_ROTATION_RADIUS_MM ((188)/2) /* RR */
+#define ROBOT_ROTATION_RADIUS_MM ((200)/2) /* RR */
 #define ROBOT_ROTATION_RADIUS_M (ROBOT_ROTATION_RADIUS_MM/1000.0)
 #define ROBOT_WHEEL_RADIUS_MM 38 /* WR */
 #define ROBOT_WHEEL_RADIUS_M (ROBOT_WHEEL_RADIUS_MM/1000.0)
-#define ROBOT_AXIS_TO_BACK_MM 230 /* AB */
+#define ROBOT_AXIS_TO_BACK_MM 220 /* AB */
 #define ROBOT_AXIS_TO_BACK_M (ROBOT_AXIS_TO_BACK_MM/1000.0)
-#define ROBOT_AXIS_TO_FRONT_MM 65 /* AF */
+#define ROBOT_AXIS_TO_FRONT_MM 50 /* AF */
 #define ROBOT_AXIS_TO_FRONT_M (ROBOT_AXIS_TO_FRONT_MM/1000.0)
-#define ROBOT_AXIS_TO_BRUSH_MM 50 /* ABE */ // FIXME: update the value and rename (no brushes)
-#define ROBOT_AXIS_TO_BRUSH_M (ROBOT_AXIS_TO_BRUSH_MM/1000.0)
-#define HOKUYO_CENTER_OFFSET_MM 35 // FIXME
+
+#define HOKUYO_CENTER_OFFSET_MM 0 
 #define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
 #define ODOMETRY_WHEEL_RADIUS_MM 30
 #define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
-#define ODOMETRY_ROTATION_RADIUS_MM (246/2)
+#define ODOMETRY_ROTATION_RADIUS_MM (284/2)
 #define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
-#define ROBOT_VIDLE_LENGTH_M 0.2 /* V */ /* FIXME: Measure the right value */
+#define ROBOT_JAWS_LENGHT_MM 105 /* JA */ 
+#define ROBOT_JAWS_LENGHT_M (ROBOT_JAWS_LENGHT_MM/1000.0)
+#define ROBOT_LENGHT_WITH_PANWS_MM 170 /* PW */ 
+#define ROBOT_LENGHT_WITH_PAWNS_M (ROBOT_LENGHT_WITH_PANWS_MM/1000.0)
 
 /**
  * PLAYGROUND DIMENSIONS