From 4df73004b5d8c5fe789522d245448dd008b92e18 Mon Sep 17 00:00:00 2001 From: Michal Vokac Date: Tue, 8 May 2012 17:52:11 +0200 Subject: [PATCH] robodim: Add decimal part to all dimension definitions. --- src/robodim/robodim.h | 34 +++++++++++++++++++--------------- 1 file changed, 19 insertions(+), 15 deletions(-) diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h index edf31602..c294b7bd 100644 --- 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 -- 2.39.2