Colony » Colony Scout

/**

 * The code in this package was developed using the structure of Willow

 * Garage's turtlesim package.  It was modified by the CMU Robotics Club

 * to be used as a simulator for the Colony Scout robot.

 *

 * All redistribution of this code is limited to the terms of Willow Garage's

 * licensing terms, as well as under permission from the CMU Robotics Club.

 * 

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * Copyright (c) 2009, Willow Garage, Inc.

 * All rights reserved.

 * 

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions are met:

 * 

 *    Redistributions of source code must retain the above copyright

 *       notice, this list of conditions and the following disclaimer.

 *    Redistributions in binary form must reproduce the above copyright

 *       notice, this list of conditions and the following disclaimer in the

 *       documentation and/or other materials provided with the distribution.

 *    Neither the name of the Willow Garage, Inc. nor the names of its

 *       contributors may be used to endorse or promote products derived from

 *       this software without specific prior written permission.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file scout_constants.h

 *

 * @ingroup scoutsim

 * @{

 */

#ifndef _SCOUTSIM_SCOUT_CONSTANTS_

#define _SCOUTSIM_SCOUT_CONSTANTS_

#include <messages/set_motors.h>

/// TODO put these in a utility file somewhere?

#define min(x,y) ((x < y) ? x : y)

#define max(x,y) ((x > y) ? x : y)

namespace scoutsim

{

    // Maximum speed which will be sent to scoutsim in absolute units

    const int MAX_ABSOLUTE_SPEED = messages::set_motors::MAX_SPEED;

    const int MIN_ABSOLUTE_SPEED = messages::set_motors::MIN_SPEED;

    // Speed in m/s corresponding to maximum absolute speed

    const float MAX_SPEED_MPS = 1.0;

    // Pixels in scoutsim per real-world meter.

    // Note that scout image size has been set based on this.

    const float PIX_PER_METER = 200.0;

    // Scout dimensions, in meters

    const float SCOUT_WIDTH = 0.125;

    const float SCOUT_LENGTH = 0.23;

    // Position of sonar relative to robot center

    const float SCOUT_SONAR_X = -0.01;

    const float SCOUT_SONAR_Y = 0.0;

    // @todo Inaccurate. Update

    const float ENCODER_TICKS_PER_METER = 363.78;

    // @todo Update this

    const float SONAR_MAX_RANGE_M = 9.144;

    const unsigned int SONAR_MAX_RANGE_PIX = (unsigned int)

        (SONAR_MAX_RANGE_M * PIX_PER_METER);

    // Time it takes for the sonar to spin from position 0 to position 23

    const float SONAR_HALF_SPIN_TIME = 0.5;

    const float REAL_TIME_REFRESH_RATE = 0.05;   // s

    const float SIM_TIME_REFRESH_RATE = 0.02;   // s

}

#endif

/** @} */