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server
drivers
mixed
reb
reb_params.h
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/*
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* Player - One Hell of a Robot Server
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* Copyright (C) 2000
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* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
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*
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/*
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* Copyright (C) 2002
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* John Sweeney, Laboratory for Perceptual Robotics, UMASS, Amherst
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*
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* $Id$
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*
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* reb_params.h
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*
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* Parameters for the UMASS Ubots.
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*/
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#ifndef _REB_PARAMS_H
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#define _REB_PARAMS_H
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#include <player.h>
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void
initialize_reb_params(
void
);
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#define PLAYER_NUM_UBOT_ROBOT_TYPES 2
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// here are some parameters for the ubot
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typedef
struct
{
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char
*Class;
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char
*Subclass;
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int32_t MaxVelocity;
// max translational velocity in mm/s
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int32_t MaxRVelocity;
// max rotational velocity in deg/s
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int32_t RobotRadius;
// radius in mm
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int32_t RobotAxleLength;
// length from wheel contact to contact in mm
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double
PulsesPerMM;
// number of pulses per MM
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int32_t PulsesPerMMF;
// fixed point of previous (previous * REB_FIXED_FACTOR)
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double
MMPerPulses;
// for completeness, inverse of previous, reduce # of floating ops
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int32_t MMPerPulsesF;
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double
PulsesPerMMMS;
// previous constants adjusted for time factor in velocity
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int32_t PulsesPerMMMSF;
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double
MMPerPulsesMS;
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int32_t MMPerPulsesMSF;
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uint16_t NumberIRSensors;
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int16_t ir_pose[PLAYER_IR_MAX_SAMPLES][3];
// each row is {x, y, theta} in robo-centric coords (mm, mm, deg)
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uint16_t pos_kp, pos_ki, pos_kd;
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}
UBotRobotParams_t
;
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extern
UBotRobotParams_t
PlayerUBotRobotParams[];
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#endif
UBotRobotParams_t
Definition
reb_params.h:44
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