Colony » Colony Scout » Colony Scout OS

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.

namespace scoutsim

{

    // 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 = 0.05;

    const float SCOUT_LENGTH = 0.2;

    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;

    const unsigned int SONAR_MAX_RANGE = 255;

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

    const float SONAR_HALF_SPIN_TIME = 0.5;

    const float SCOUTSIM_REFRESH_RATE = 0.01;   // s

}

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