robodim: Robot starting position defined and dimensions updated.

diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h
index 6cebf6134b7238beec0a3dc277563f2cef5c34d5..bc7a1bffccaf4c1d842f82077f10a8b7d2fe2fce 100644 (file)
--- a/src/robodim/robodim.h
+++ b/src/robodim/robodim.h
@@ -44,8 +44,10 @@
 #define ROBOT_WHEEL_RADIUS_M (ROBOT_WHEEL_RADIUS_MM/1000.0)
 #define ROBOT_AXIS_TO_BACK_MM 50 /* AB */
 #define ROBOT_AXIS_TO_BACK_M (ROBOT_AXIS_TO_BACK_MM/1000.0)
-#define ROBOT_AXIS_TO_FRONT_MM 250 /* AF */
+#define ROBOT_AXIS_TO_FRONT_MM 210 /* 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_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
@@ -55,13 +57,17 @@
 #define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
 #define ODOMETRY_ROTATION_RADIUS_MM (284/2)
 #define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
-#define ROBOT_JAWS_LENGHT_MM 105 /* JA */ 
+#define ROBOT_JAWS_LENGHT_MM 130 /* 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)
 #define ROBOT_AXIS_TO_FIGURE_CENTER_MM 300
 #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)
 /* maxon motor parameters ratio */
 /* DO NOT change this if not shure what you are doing !!! */
 #define ROBOT_MOTOR_GEARBOX_RATIO      29.0