scoutos / scout / scoutsim / src / scout_constants.h @ 3a73516c
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1 | 50557e88 | Alex Zirbel | /**
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2 | * The code in this package was developed using the structure of Willow
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3 | * Garage's turtlesim package. It was modified by the CMU Robotics Club
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4 | * to be used as a simulator for the Colony Scout robot.
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5 | *
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6 | * All redistribution of this code is limited to the terms of Willow Garage's
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7 | * licensing terms, as well as under permission from the CMU Robotics Club.
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8 | *
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9 | * Copyright (c) 2011 Colony Project
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10 | *
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11 | * Permission is hereby granted, free of charge, to any person
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12 | * obtaining a copy of this software and associated documentation
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13 | * files (the "Software"), to deal in the Software without
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14 | * restriction, including without limitation the rights to use,
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15 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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16 | * copies of the Software, and to permit persons to whom the
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17 | * Software is furnished to do so, subject to the following
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18 | * conditions:
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19 | *
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20 | * The above copyright notice and this permission notice shall be
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21 | * included in all copies or substantial portions of the Software.
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22 | *
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23 | * Copyright (c) 2009, Willow Garage, Inc.
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24 | * All rights reserved.
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25 | *
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26 | * Redistribution and use in source and binary forms, with or without
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27 | * modification, are permitted provided that the following conditions are met:
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28 | *
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29 | * Redistributions of source code must retain the above copyright
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30 | * notice, this list of conditions and the following disclaimer.
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31 | * Redistributions in binary form must reproduce the above copyright
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32 | * notice, this list of conditions and the following disclaimer in the
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33 | * documentation and/or other materials provided with the distribution.
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34 | * Neither the name of the Willow Garage, Inc. nor the names of its
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35 | * contributors may be used to endorse or promote products derived from
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36 | * this software without specific prior written permission.
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37 | *
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38 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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39 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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40 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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41 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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42 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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43 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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44 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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45 | * OTHER DEALINGS IN THE SOFTWARE.
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46 | */
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47 | |||
48 | 3a73516c | Alex | /**
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49 | * @file scout_constants.h
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50 | *
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51 | * @ingroup scoutsim
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52 | * @{
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53 | */
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54 | |||
55 | 16097fcf | Priya | #ifndef _SCOUTSIM_SCOUT_CONSTANTS_
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56 | #define _SCOUTSIM_SCOUT_CONSTANTS_
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57 | |||
58 | 6ebee82c | Alex | #include <messages/set_motors.h> |
59 | 2237e1f0 | Tom Mullins | |
60 | 04114d13 | Alex | /// TODO put these in a utility file somewhere?
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61 | #define min(x,y) ((x < y) ? x : y)
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62 | #define max(x,y) ((x > y) ? x : y)
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63 | |||
64 | 50557e88 | Alex Zirbel | namespace scoutsim |
65 | { |
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66 | 6257c97d | Alex | // Maximum speed which will be sent to scoutsim in absolute units
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67 | 6ebee82c | Alex | const int MAX_ABSOLUTE_SPEED = messages::set_motors::MAX_SPEED; |
68 | const int MIN_ABSOLUTE_SPEED = messages::set_motors::MIN_SPEED; |
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69 | 04114d13 | Alex | |
70 | 6257c97d | Alex | // Speed in m/s corresponding to maximum absolute speed
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71 | const float MAX_SPEED_MPS = 1.0; |
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72 | |||
73 | c63c9752 | Alex | // Pixels in scoutsim per real-world meter.
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74 | // Note that scout image size has been set based on this.
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75 | const float PIX_PER_METER = 200.0; |
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76 | |||
77 | 50557e88 | Alex Zirbel | // Scout dimensions, in meters
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78 | fa857318 | Priya | const float SCOUT_WIDTH = 0.125; |
79 | const float SCOUT_LENGTH = 0.23; |
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80 | 50557e88 | Alex Zirbel | |
81 | // Position of sonar relative to robot center
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82 | const float SCOUT_SONAR_X = -0.01; |
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83 | const float SCOUT_SONAR_Y = 0.0; |
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84 | a2e6bd4c | Alex | |
85 | c63c9752 | Alex | // @todo Inaccurate. Update
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86 | const float ENCODER_TICKS_PER_METER = 363.78; |
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87 | |||
88 | dd065971 | Alex | // @todo Update this
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89 | const float SONAR_MAX_RANGE_M = 9.144; |
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90 | const unsigned int SONAR_MAX_RANGE_PIX = (unsigned int) |
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91 | (SONAR_MAX_RANGE_M * PIX_PER_METER); |
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92 | c63c9752 | Alex | |
93 | a2e6bd4c | Alex | // Time it takes for the sonar to spin from position 0 to position 23
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94 | 6639ce9c | viki | const float SONAR_HALF_SPIN_TIME = 0.5; |
95 | c63c9752 | Alex | |
96 | 6ee555a3 | Priya | const float REAL_TIME_REFRESH_RATE = 0.05; // s |
97 | const float SIM_TIME_REFRESH_RATE = 0.02; // s |
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98 | 50557e88 | Alex Zirbel | } |
99 | 16097fcf | Priya | |
100 | #endif
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101 | 3a73516c | Alex | |
102 | /** @} */ |