Revision c63c9752
Scoutsim now has consistent units of m and m/s.
This will cause some problems.
- Behaviors which relied on the old units will have to change. We need to change the Control classes to scale things right.
- Encoder ticks are almost fixed, but not quite right (I think because of a rounding problem).
- Speeds are now all in m/s, which is much different than before - we'll have to change the Control class somehow.
I'm afraid I'm out of time to make the rest of these changes now, but I'll do them ASAP.
scout/scoutsim/src/scout_constants.h | ||
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namespace scoutsim |
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{ |
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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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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 = 0.01; // s |
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} |
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