Revision 04114d13
ID | 04114d139191ab6a6893f0af9770f0a8ed341778 |
Fixed teleop with new units, and changes the refresh rate to be closer to true m/s.
scout/scoutsim/src/scout_constants.h | ||
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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 = 255; |
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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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// 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 = 0.01; // s
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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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