src/robodim/robodim.h

   1 /*
   2  * robodim_eb2008.h                     08/04/18
   3  *
   4  * Dimensions for the robot, playground and other stuffs.
   5  * Eurobot 2008
   6  *
   7  * Copyright: (c) 2008 CTU Dragons
   8  *            CTU FEE - Department of Control Engineering
   9  * License: GNU GPL v.2
  10  */
  11
  12 #ifndef ROBODIM_EB2008_H
  13 #define ROBODIM_EB2008_H
  14
  15 /**
  16  * FIXME: update robot's dimensions !!!
  17  *
  18  * ROBOT DIMENSIONS
  19  *                                   S0
  20  *       S4 +--------------------------+ S2
  21  *        ^ |   |     |                |--,
  22  *     ^  | |   -------    ABE         |   |
  23  *   RR|  | |      :<--------------------->|
  24  *     v  | |      :             __    |--'
  25  *       W| |      + Center  (L)|__|   |
  26  *        | |  AB  :       AF    HOK   |--,
  27  *        | |<---->:<----------------->|   |
  28  *        | |   -------                |   |
  29  *        v |   |     |                |--'
  30  *       S5 +--------------------------+ S3
  31  *                 <-->              S1
  32  *                  WR
  33  *
  34  * Sx - Sharp sensor
  35  */
  36
  37 /* FIXME needs update (?) // comment added by Filip */
  38 #define ROBOT_WIDTH_MM 290      /* W*/
  39 #define ROBOT_WIDTH_M (ROBOT_WIDTH_MM/1000.0)
  40 #define ROBOT_ROTATION_RADIUS_MM (275/2) /* RR */
  41 #define ROBOT_ROTATION_RADIUS_M (ROBOT_ROTATION_RADIUS_MM/1000.0)
  42 #define LASER_CENTER_OFFSET_MM 50 /*FIXME*/ /* Distance of the laser from rotation axis (Center to L) */
  43 #define LASER_CENTER_OFFSET_M (LASER_CENTER_OFFSET_MM/1000.0)
  44 #define ROBOT_WHEEL_RADIUS_MM 40 /* WR */
  45 #define ROBOT_WHEEL_RADIUS_M (ROBOT_WHEEL_RADIUS_MM/1000.0)
  46 #define ROBOT_AXIS_TO_BACK_MM 75 /* AB */
  47 #define ROBOT_AXIS_TO_BACK_M (ROBOT_AXIS_TO_BACK_MM/1000.0)
  48 #define ROBOT_AXIS_TO_FRONT_MM 183 /* AF */
  49 #define ROBOT_AXIS_TO_FRONT_M (ROBOT_AXIS_TO_FRONT_MM/1000.0)
  50 #define ROBOT_AXIS_TO_BRUSH_MM 280 /* ABE */
  51 #define ROBOT_AXIS_TO_BRUSH_M (ROBOT_AXIS_TO_BRUSH_MM/1000.0)
  52 #define HOKUYO_CENTER_OFFSET_MM 170
  53 #define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
  54
  55 #define ROBOT_AXIS_TO_PUCK_M 0.2 // puck approach distance
  56 #define PUCK_REACHABLE(x) ((x<0.13)?true:false)
  57 #define PUCK_INSIDE(x) ((x<=0.055)?true:false)
  58
  59 /**
  60  * PLAYGROUND DIMENSIONS
  61  *
  62  *            S2                                                                  R3
  63  *            +---------------------------------+---------------------------------+
  64  *        ^   |                                                              [W,H]|
  65  *        |   |                                                                   |
  66  *        |   |                                                                   |
  67  *        |   |^                                                                 ^|
  68  *        |   ||        G    G    G                           G    G    G        ||
  69  *        |   ||                                                                 ||
  70  *        |   |O?       G    G    G                           G    G    G        ||
  71  *        |   ||                                                                 ||
  72  *      H | R1+|        G    G    G                           G    G    G        |+ S1
  73  *        |   ||                                                                 ||
  74  *        |   ||        G    G    G                           G    G    G       ?T|
  75  *        |   ||                                                                 ||
  76  *        |   ||                                                                 ||
  77  *        |   |v                                                                 v|
  78  *        |   |                                                                   |
  79  *        |   |                                                                   |
  80  *        v   |[0,0]  O                                                   S       |
  81  *            +---------------------------------+---------------------------------+
  82  *            S3                                                                  R2
  83  *             <----------------------------------------------------------------->
  84  *                                              W
  85  *
  86  *                 G  - grid for pucks
  87  *                 O? - opponent's "travelling" dispenser
  88  *                 O  - opponent's static dispenser
  89  *                 S  - our static dispenser
  90  *                 ?T - our travelling dispenser
  91  *
  92  */
  93 #define PLAYGROUND_WIDTH_MM     3000
  94 #define PLAYGROUND_WIDTH_M      (PLAYGROUND_WIDTH_MM/1000.0)
  95 #define PLAYGROUND_HEIGHT_MM    2100
  96 #define PLAYGROUND_HEIGHT_M     (PLAYGROUND_HEIGHT_MM/1000.0)
  97
  98 #define ACROPOLIS_CENTER_X      (PLAYGROUND_WIDTH_M/2.0)
  99 #define ACROPOLIS_CENTER_Y      (PLAYGROUND_HEIGHT_M/2.0)
 100 #define ACROPOLIS_RADIUS        0.35
 101
 102 /**
 103  * PUCK DISPENSERS (= COLUMN ELEMENT DISPENSERS)
 104  */
 105 #define STATIC_DISPENSER_X_OFFSET       0.289
 106 #define DISPENSER_TO_CUSHION_DISTANCE   0.04
 107 #define STATIC_DISPENSER_X              (PLAYGROUND_WIDTH_M - STATIC_DISPENSER_X_OFFSET)
 108 #define STATIC_DISPENSER_Y              DISPENSER_TO_CUSHION_DISTANCE
 109 #define TRAVELLING_DISPENSER_X          (PLAYGROUND_WIDTH - DISPENSER_TO_CUSHION_DISTANCE)      // in the "PLAYGROUND DIMENSIONS" ASCII art: O?
 110 // y coordinate of the travelling dispenser is not known in advance                             // in the "PLAYGROUND DIMENSIONS" ASCII art: O?
 111 #define OPPONENTS_STATIC_DISPENSER_X    STATIC_DISPENSER_X_OFFSET                               // in the "PLAYGROUND DIMENSIONS" ASCII art: O
 112 #define OPPONENTS_STATIC_DISPENSER_Y    DISPENSER_TO_CUSHION_DISTANCE                           // in the "PLAYGROUND DIMENSIONS" ASCII art: O
 113
 114 /**
 115  * FREE PUCKS POSITIONS
 116  */
 117 #define PUCK_GRID_X_OFFSET      0.6
 118 #define PUCK_GRID_Y_OFFSET      0.925
 119 #define PUCK_GRID_DELTA_X       0.25
 120 #define PUCK_GRID_DELTA_Y       0.2
 121 #define PUCK_GRID_ROWS_NUM      4
 122 #define PUCK_GRID_COLS_NUM      3
 123
 124 struct puck_pos {
 125         float x, y;             /* In meters */
 126 };
 127
 128 /*
 129  * boolean: free_puck_present[lot][ny][nx]
 130  */
 131 extern const char free_puck_present[10][4][3];
 132
 133 /*
 134  * tells, whether a puck is placed in grid at nx, ny
 135  * (lot=0..9, nx=0..2, ny=0..3)
 136  */
 137 #define FREE_PUCK_PRESENT(lot,nx,ny) (free_puck_present[lot][y][x])
 138
 139 /*
 140  * returns position of a free puck
 141  * (nx=0..2, ny=0..3)
 142  *
 143  * !WARNING! The positions assume WE_ARE_GREEN
 144  * The pucks are sorted according to growing x, y,
 145  * ie. the nearest puck to the start position is @nx=0,ny=3
 146  * (yes, a stupid coord system...)
 147  */
 148 static inline struct puck_pos free_puck_pos(int nx, int ny) {
 149         struct puck_pos pos = {PUCK_GRID_X_OFFSET + nx*PUCK_GRID_DELTA_X,
 150                                PUCK_GRID_Y_OFFSET + ny*PUCK_GRID_DELTA_Y};
 151         return pos;
 152 }
 153
 154 /**
 155  * BASKET
 156  */
 157 #define BASKET_WIDTH            0.5
 158 #define BASKET_HEIGHT           0.34
 159 #define BASKET_VERT_OFFSET      0.35
 160
 161 #define BLUE_BASKET_TARGET_X    PLAYGROUND_WIDTH_M
 162 #define BLUE_BASKET_TARGET_Y    (BASKET_WIDTH/2.0)
 163
 164 #define RED_BASKET_TARGET_X     0
 165 #define RED_BASKET_TARGET_Y     (BASKET_WIDTH/2.0)
 166
 167 /*
 168  * 3 ultrasonic beacons
 169  */
 170 #define BEACON_WIDTH            0.08
 171 #define BEACON_HEIGHT           BEACON_WIDTH
 172
 173 #define BEACON_GREEN            0
 174 #define BEACON_RED              1
 175 #define BEACON_CNT              3
 176
 177 struct beacon_pos {
 178         float x, y;
 179 };
 180
 181 extern const struct beacon_pos beacon_green[BEACON_CNT];
 182 extern const struct beacon_pos beacon_red[BEACON_CNT];
 183
 184 /*
 185  * Position of Shapr sensors on the robot with respect to the robot center
 186  * (not used in EB2009)
 187  */
 188 struct sharp_pos {
 189         float x, y, ang;
 190 };
 191
 192 #define SHARP_COUNT 0  /* no sharp sensors in EB2009, I hope */
 193
 194 #endif /* ROBODIM_EB2008_H */