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,