33#define OBOT_DEFAULT_PORT "/dev/usb/ttyUSB1"
36#define OBOT_DELAY_US 50000
39#define OBOT_PUBLISH_INTERVAL 0.1
43#define OBOT_AXLE_LENGTH 0.317
44#define OBOT_WHEEL_DIAM 0.10795
45#define OBOT_WHEEL_CIRCUM (OBOT_WHEEL_DIAM * M_PI)
46#define OBOT_TICKS_PER_REV 11600.0
47#define OBOT_M_PER_TICK (OBOT_WHEEL_CIRCUM / OBOT_TICKS_PER_REV)
49#define OBOT_PID_FREQUENCY (1/1.9375e-3)
50#define OBOT_MAGIC_TIMING_CONSTANT 1.0
51#define OBOT_MPS_PER_TICK (OBOT_M_PER_TICK * OBOT_PID_FREQUENCY / \
52 OBOT_MAGIC_TIMING_CONSTANT)
53#define OBOT_WIDTH 0.45
54#define OBOT_LENGTH 0.45
55#define OBOT_POSE_X 0.0
56#define OBOT_POSE_Y 0.0
57#define OBOT_POSE_A 0.0
58#define OBOT_NOMINAL_VOLTAGE 48.0
61#define OBOT_MAX_TICS 2147483648U
65#define OBOT_MAX_WHEELSPEED 5.0
68#define OBOT_MIN_WHEELSPEED_TICKS 5
80#define OBOT_DEINIT 250
82#define OBOT_SET_VELOCITIES 118
83#define OBOT_SET_ACCELERATIONS 97
84#define OBOT_ENABLE_VEL_CONTROL 101
85#define OBOT_DISABLE_VEL_CONTROL 100
86#define OBOT_GET_ODOM 111
87#define OBOT_GET_VOLTAGE 98
90#define OBOT_HEARTBEAT 104