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author | sicarius <devnull@localhost> | 2007-02-26 22:25:01 +0100 |
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committer | sicarius <devnull@localhost> | 2007-02-26 22:25:01 +0100 |
commit | f61eb900879fe941460a284ff9e4681b0958b944 (patch) | |
tree | e32e6e091b0d025e071f3eab1dbf52c04d107d1d /source/Concept/Framework/defines.h | |
parent | 343397ecf6e8ba9ca94fc61e27c241139eff120b (diff) | |
download | rc2007-soccer-f61eb900879fe941460a284ff9e4681b0958b944.tar rc2007-soccer-f61eb900879fe941460a284ff9e4681b0958b944.zip |
SoccerTeam, Stuff from Magdeburg
Diffstat (limited to 'source/Concept/Framework/defines.h')
-rw-r--r-- | source/Concept/Framework/defines.h | 46 |
1 files changed, 44 insertions, 2 deletions
diff --git a/source/Concept/Framework/defines.h b/source/Concept/Framework/defines.h index 596126d..a86282c 100644 --- a/source/Concept/Framework/defines.h +++ b/source/Concept/Framework/defines.h @@ -60,6 +60,9 @@ #define DISTANCE_PER_VALUE 1
#define TICKS_PER_CM 205.0f
//#define TICKS_PER_CM 90.0f
+#define ULTRASONIC_PER_CM 2.0f
+
+#define WIRELESS_ACTIVE false
#define PI 3.14159265358979323846f
#define CYCLES_PER_CORRECTION 20
@@ -67,8 +70,39 @@ #define BALL_HELD_INTENSITY 900
+#define KEEPER_LEFT_ANGLE 20.0f * PI / 180.0f
+#define KEEPER_RIGHT_ANGLE (2 * PI) - (20.0f * PI / 180.0f)
+
#define COMMAND_BUFFER_SIZE 20
+#define DEFAULT_SPEED 200
+#define DEFAULT_ROTATION_SPEED 200
+
+#define AREA_BOUNDS_X 20000.0f
+#define AREA_BOUNDS_Y 5000.0f
+
+#define WALL_DISTANCE_TOLERANCE 30.0f
+#define ENEMY_ROBOT_RADIUS 40.0f
+
+#define HOME_LOC_X -500.0f
+#define HOME_LOC_Y 0
+#define ENEMY_LOC_X 500.0f
+#define ENEMY_LOC_Y 0
+#define DEFENCE_L_LOC_X -500.0f
+#define DEFENCE_L_LOC_Y 70.0f
+#define DEFENCE_R_LOC_X -500.0f
+#define DEFENCE_R_LOC_Y -70.0f
+
+#define DISTANCE_TOLERANCE 1.0f
+#define ORIENTATION_TOLERANCE 0.1f
+
+#define MAX_OBSTACLE_COUNT 20
+
+#define OBSTACLE_DECAY 100
+
+#define BALL_DIRECTION_FRONT_L 45.0f * PI / 180.0f
+#define BALL_DIRECTION_FRONT_R 315.0f * PI / 180.0f
+
#define WIRELESS_CODE "SPASS!"
enum WirelessCommands
{
@@ -183,9 +217,17 @@ enum IOModuleNames IO_POSITION_TRACKER_END,
- //Position Tracker
+ //Obstacle Tracker
+
+ IO_OBSTACLE_TRACKER_START = IO_POSITION_TRACKER_END,
+
+ IO_OBSTACLE_TRACKER_MAIN,
+
+ IO_OBSTACLE_TRACKER_END,
+
+ //Ball Tracker
- IO_BALL_TRACKER_START = IO_POSITION_TRACKER_END,
+ IO_BALL_TRACKER_START = IO_OBSTACLE_TRACKER_END,
IO_BALL_TRACKER_MAIN,
|