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Revision 04114d13

ID04114d139191ab6a6893f0af9770f0a8ed341778

Added by Alex Zirbel over 11 years ago

Fixed teleop with new units, and changes the refresh rate to be closer to true m/s.

View differences:

scout/scoutsim/src/scout_constants.h
48 48 
#ifndef _SCOUTSIM_SCOUT_CONSTANTS_
49 49 
#define _SCOUTSIM_SCOUT_CONSTANTS_
50 50 

  		




  
  51
  
    
/// TODO put these in a utility file somewhere?


  		




  
  52
  
    
#define min(x,y) ((x < y) ? x : y)


  		




  
  53
  
    
#define max(x,y) ((x > y) ? x : y)


  		




  
  54
  
    

  		




  51
  55
  
    
namespace scoutsim


  		




  52
  56
  
    
{


  		




  53
  57
  
    
    // Maximum speed which will be sent to scoutsim in absolute units


  		




  54
  
  
    
    const int MAX_ABSOLUTE_SPEED = 255;


  		




  
  58
  
    
    const int MAX_ABSOLUTE_SPEED = 127;


  		




  
  59
  
    
    const int MIN_ABSOLUTE_SPEED = -128;


  		




  
  60
  
    

  		




  55
  61
  
    
    // Speed in m/s corresponding to maximum absolute speed


  		




  56
  62
  
    
    const float MAX_SPEED_MPS = 1.0;


  		




  57
  63
  
    

  		




  ......




  75
  81
  
    
    // Time it takes for the sonar to spin from position 0 to position 23


  		




  76
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    const float SONAR_HALF_SPIN_TIME = 0.5;


  		




  77
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  78
  
  
    
    const float SCOUTSIM_REFRESH_RATE = 0.01;   // s


  		




  
  84
  
    
    const float SCOUTSIM_REFRESH_RATE = 0.05;   // s


  		




  79
  85
  
    
}


  		




  80
  86
  
    

  		




  81
  87
  
    
#endif


  		












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