reb_params.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000
* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
*
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/*
* Copyright (C) 2002
* John Sweeney, Laboratory for Perceptual Robotics, UMASS, Amherst
*
* $Id: reb_params.h 1169 2002-12-10 05:34:27Z jazzfunk $
*
* reb_params.h
*
* Parameters for the UMASS Ubots.
*/
#ifndef _REB_PARAMS_H
#define _REB_PARAMS_H
#include <player.h>
void initialize_reb_params(void);
#define PLAYER_NUM_UBOT_ROBOT_TYPES 2
// here are some parameters for the ubot
typedef struct {
char *Class;
char *Subclass;
int32_t MaxVelocity; // max translational velocity in mm/s
int32_t MaxRVelocity; // max rotational velocity in deg/s
int32_t RobotRadius; // radius in mm
int32_t RobotAxleLength; // length from wheel contact to contact in mm
double PulsesPerMM; // number of pulses per MM
int32_t PulsesPerMMF; // fixed point of previous (previous * REB_FIXED_FACTOR)
double MMPerPulses; // for completeness, inverse of previous, reduce # of floating ops
int32_t MMPerPulsesF;
double PulsesPerMMMS; // previous constants adjusted for time factor in velocity
int32_t PulsesPerMMMSF;
double MMPerPulsesMS;
int32_t MMPerPulsesMSF;
uint16_t NumberIRSensors;
int16_t ir_pose[PLAYER_IR_MAX_SAMPLES][3]; // each row is {x, y, theta} in robo-centric coords (mm, mm, deg)
uint16_t pos_kp, pos_ki, pos_kd;
} UBotRobotParams_t;
extern UBotRobotParams_t PlayerUBotRobotParams[];
#endif
UBotRobotParams_t
Definition: reb_params.h:44

Last updated 12 September 2005 21:38:45