From: Marek Peca <mp@duch.cz>
Date: Thu, 9 Apr 2009 19:06:00 +0000 (+0200)
Subject: robodim: corrected beacon coords, deleted sharp coords
X-Git-Tag: eb2009~132^2~1^2~2^2
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/513805c080f8bb73cdd86abb9739155856000871

robodim: corrected beacon coords, deleted sharp coords

- beacon positions were corrected according to actual boundary widths
---

diff --git a/src/robodim/robodim.c b/src/robodim/robodim.c
index 972ad6f3..4e9e0f49 100644
--- a/src/robodim/robodim.c
+++ b/src/robodim/robodim.c
@@ -1,32 +1,22 @@
 #include "robodim.h"
 #include <robomath.h>
 
-/* Beacon positions. For some version of MCL, this must be sorted in
- * the same order as laser rotation. */
-const struct beacon_pos beacon_blue[BEACON_CNT] = {
-	/* R1 */ { 0,                  PLAYGROUND_HEIGHT_M/2 },
-	/* R2 */ { PLAYGROUND_WIDTH_M, 0 },
-#if BEACON_CNT == 4
-	/* R4 */ { PLAYGROUND_WIDTH_M, BASKET_WIDTH },
-#endif
-	/* R3 */ { PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M },
+/*
+ * Beacon positions. For some version of MCL, this must be sorted in
+ * the same order as laser rotation.
+ *
+ * (pecam1, 2009: not sure, if the sense is right for laser MCL;
+ *  anyway, I hope, we will be happy without the laser)
+ */
+const struct beacon_pos beacon_green[BEACON_CNT] = {
+	{ 3.062, -0.05},  /* EB2009: one side is 10mm only plexiglass */
+	{-0.062,  1.05},  /* the rest is 22mm wood */
+	{ 3.062,  2.162},
 };
 
 const struct beacon_pos beacon_red[BEACON_CNT] = {
-	/* S1 */ { PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M/2 },
-	/* S2 */ { 0, 		       PLAYGROUND_HEIGHT_M },
-#if BEACON_CNT == 4
-	/* S4 */ { 0, 		       BASKET_WIDTH },
-#endif
-	/* S3 */ { 0, 		       0 },
-};
-
-
- const struct sharp_pos sharp[SHARP_COUNT] = {
-	{ ROBOT_AXIS_TO_FRONT_M-0.02, +ROBOT_WIDTH_M/2.0, DEG2RAD(+90) }, /* Left */
-	{ ROBOT_AXIS_TO_FRONT_M-0.02, -ROBOT_WIDTH_M/2.0, DEG2RAD(-90) }, /* Right */
-	{ ROBOT_AXIS_TO_FRONT_M, +ROBOT_WIDTH_M/2.0, DEG2RAD(0) }, /* Front left */
-	{ ROBOT_AXIS_TO_FRONT_M, -ROBOT_WIDTH_M/2.0, DEG2RAD(0) }, /* Front right */
-	{ ROBOT_AXIS_TO_BACK_M, +ROBOT_WIDTH_M/2.0, DEG2RAD(180) }, /* Back left */
-	{ ROBOT_AXIS_TO_BACK_M, -ROBOT_WIDTH_M/2.0, DEG2RAD(180) }, /* Back right */
+	/* beacons are rotated, not mirrored! */
+	{-0.062,  2.162},
+	{ 3.062,  1.05},
+	{-0.062, -0.05},
 };
diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h
index ccd05c79..c21156ab 100644
--- a/src/robodim/robodim.h
+++ b/src/robodim/robodim.h
@@ -113,34 +113,31 @@
 #define RED_BASKET_TARGET_X	0
 #define RED_BASKET_TARGET_Y	(BASKET_WIDTH/2.0)
 
-/**
- * BEACONS
- *   Blue reflectors
- *   	R1, R2, R3, R4
- *   Red reflectors
- *   	S1, S2, S3, S4
- */
+     /*
+      * 3 ultrasonic beacons
+      */
 #define BEACON_WIDTH		0.08
 #define BEACON_HEIGHT		BEACON_WIDTH
 
-#define	BEACON_BLUE		0 // FIXME: no significant blue color this year
+#define	BEACON_GREEN		0
 #define	BEACON_RED		1
-#define BEACON_CNT		4
+#define BEACON_CNT		3
 
 struct beacon_pos {
 	float x, y;
 };
 
-extern const struct beacon_pos beacon_blue[BEACON_CNT];
+extern const struct beacon_pos beacon_green[BEACON_CNT];
 extern const struct beacon_pos beacon_red[BEACON_CNT];
 
-/** Position of Shapr sensors on the robot with respect to the robot center */
+/*
+ * Position of Shapr sensors on the robot with respect to the robot center
+ * (not used in EB2009)
+ */
 struct sharp_pos {
 	float x, y, ang;
 };
 
-#define SHARP_COUNT 6
-extern const struct sharp_pos sharp[SHARP_COUNT];
-
+#define SHARP_COUNT 0  /* no sharp sensors in EB2009, I hope */
 
 #endif /* ROBODIM_EB2008_H */