Revision 1343
WORKING
| internals.h | ||
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| 6 | 6 |
#define RS 2 |
| 7 | 7 |
#define RD 3 |
| 8 | 8 |
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| 9 |
#define LEFT 0
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| 10 |
#define RIGHT 1
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| 9 |
#define LEFT 1
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| 10 |
#define RIGHT 0
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| 11 | 11 |
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| 12 | 12 |
#define FORWARD 1 |
| 13 | 13 |
#define BACKWARD 0 |
| ... | ... | |
| 17 | 17 |
#define INFINITE -1 |
| 18 | 18 |
#define L 13.5 |
| 19 | 19 |
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| 20 |
#define DT .102 |
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| 20 |
//#define DT .102 |
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| 21 |
#define DT .088 |
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| 21 | 22 |
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| 22 | 23 |
#define DIST(x1, y1, x2, y2) (sqrt(((x1)-(x2))*((x1)-(x2)) + ((y1)-(y2))*((y1)-(y2)))) |
| 23 |
#define LOOK_AHEAD 30
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#define LOOK_AHEAD 40
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| 24 | 25 |
#define LOOK_AHEAD_ERR_THRES 5 |
| 25 |
#define VELOCITY 20
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#define VELOCITY 10
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| 26 | 27 |
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| 27 | 28 |
typedef struct state |
| 28 | 29 |
{
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