scoutos / scout / scoutsim / src / scout_constants.h @ 04114d13
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/**
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* The code in this package was developed using the structure of Willow
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* Garage's turtlesim package. It was modified by the CMU Robotics Club
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* to be used as a simulator for the Colony Scout robot.
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*
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* All redistribution of this code is limited to the terms of Willow Garage's
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* licensing terms, as well as under permission from the CMU Robotics Club.
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*
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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#ifndef _SCOUTSIM_SCOUT_CONSTANTS_
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#define _SCOUTSIM_SCOUT_CONSTANTS_
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/// TODO put these in a utility file somewhere?
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#define min(x,y) ((x < y) ? x : y)
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#define max(x,y) ((x > y) ? x : y)
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namespace scoutsim |
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{ |
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// Maximum speed which will be sent to scoutsim in absolute units
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const int MAX_ABSOLUTE_SPEED = 127; |
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const int MIN_ABSOLUTE_SPEED = -128; |
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// Speed in m/s corresponding to maximum absolute speed
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const float MAX_SPEED_MPS = 1.0; |
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// Pixels in scoutsim per real-world meter.
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// Note that scout image size has been set based on this.
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const float PIX_PER_METER = 200.0; |
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// Scout dimensions, in meters
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const float SCOUT_WIDTH = 0.05; |
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const float SCOUT_LENGTH = 0.2; |
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// Position of sonar relative to robot center
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const float SCOUT_SONAR_X = -0.01; |
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const float SCOUT_SONAR_Y = 0.0; |
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// @todo Inaccurate. Update
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const float ENCODER_TICKS_PER_METER = 363.78; |
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const unsigned int SONAR_MAX_RANGE = 255; |
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// Time it takes for the sonar to spin from position 0 to position 23
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const float SONAR_HALF_SPIN_TIME = 0.5; |
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const float SCOUTSIM_REFRESH_RATE = 0.05; // s |
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} |
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#endif
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