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rflex_configs.h Go to the documentation of this file. /* some basic structures and conversions needed by everything * * data for the conversions and everything else will be grabbed out of * the general configuration file * * note - they way it is now is the right way to do it, BUT: * if your a hacker and want things to run fast - put all the configurations * here as #define's, this will allow the precompiler to precompute combined * conversions, this is much preferable to modifying the rest of the code * if you really need the speed that badly */ // NOTICE! - this file declares rflex_configs extern, intended to link to // the rflex_configs declared in rflex.cc #ifndef RFLEX_CONFIGS_H #define RFLEX_CONFIGS_H #include <math.h> #include <player.h> //holds the pose of a sonar in robot relative coordinates typedef struct { double x; double y; double t; } sonar_pose_t; //normalizes an angle in radians to -M_PI<theta<M_PI inline double normalize_theta(double theta){ while(theta>M_PI) theta-=2*M_PI; while(theta<-M_PI) theta+=2*M_PI; return theta; } //structures for holding general configuration of robot typedef struct rflex_config_t{ char serial_port[256]; //length of the robot in mm double mm_length; //width of the robot in mm double mm_width; //mm*odo_distance_conversion : mm to rflex arbitrary odometry units (trans) double odo_distance_conversion; //rad*odo_angle_conversion : rad to rflex arbitrary odometry units (rot) double odo_angle_conversion; //mm*range_distance_conversion : mm to rflex arbitrary range units double range_distance_conversion; //default translational acceleration in mm/sec double mmPsec2_trans_acceleration; //default rotational acceleration in rad/sec double radPsec2_rot_acceleration; // use rflex joystick to command robot? bool use_joystick; double joy_pos_ratio, joy_ang_ratio; //maximum number of sonar supported by modules //(generally 16*number of sonar controller boards, or banks) int max_num_sonars; //total number of physical sonar int num_sonars; //how long to buffer for filter (filter just takes smallest of last n readings) int sonar_age; //number of physical sonar sonar controller boards or banks on your robot int num_sonar_banks; // number of sonars that can be attached to each sonar controller (16) int num_sonars_possible_per_bank; // number of actual sonar attached to each sonar controller, (in each bank) int *num_sonars_in_bank; // pose of each sonar on the robot (x,y,t) in rad and mm // note i is forwards, j is left sonar_pose_t *mmrad_sonar_poses; //not sure what these do yet actually long sonar_echo_delay; long sonar_ping_delay; long sonar_set_delay; // options to support 2nd sonar bank long sonar_2nd_bank_start; long sonar_1st_bank_end; // bumper configs unsigned short bumper_count; int bumper_address; int bumper_style; player_bumper_define_t * bumper_def; // power configs int power_offset; // ir configs player_ir_pose_t ir_poses; int ir_base_bank; int ir_bank_count; int * ir_count; double * ir_a; double * ir_b; int ir_min_range; int ir_max_range; } rflex_config_t; //notice - every file that includes this header gets a GLOBAL rflex_configs!! // be careful extern rflex_config_t rflex_configs; /************ conversions ********************/ /*** rather obvious - ARB stands for arbitrary (look above) ***/ //player uses degrees, but I use radians (so cos, and sin work correctly) #define RAD2DEG_CONV(x) ((x)*(180/M_PI)) #define DEG2RAD_CONV(x) ((x)*(M_PI/180)) #define ARB2RAD_ODO_CONV(x) ((x)/rflex_configs.odo_angle_conversion) #define RAD2ARB_ODO_CONV(x) ((x)*rflex_configs.odo_angle_conversion) #define ARB2MM_ODO_CONV(x) ((x)/rflex_configs.odo_distance_conversion) #define MM2ARB_ODO_CONV(x) ((x)*rflex_configs.odo_distance_conversion) #define ARB2MM_RANGE_CONV(x) (x/rflex_configs.range_distance_conversion) #define MM2ARB_RANGE_CONV(x) (x*rflex_configs.range_distance_conversion) #endif