diff options
Diffstat (limited to 'Venus_Skeleton/calibration_wall-e.h')
| -rw-r--r-- | Venus_Skeleton/calibration_wall-e.h | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/Venus_Skeleton/calibration_wall-e.h b/Venus_Skeleton/calibration_wall-e.h index 61848f3..2c88c38 100644 --- a/Venus_Skeleton/calibration_wall-e.h +++ b/Venus_Skeleton/calibration_wall-e.h @@ -6,13 +6,22 @@ #define CAL_IR_RIGHT_THRESHOLD 600 #define CAL_SAMPLE_GRIPPER_THRESHOLD 1 #define CAL_SAMPLE_TURRET_THRESHOLD 1 -#define CAL_INITIAL_DISTANCE 30.0 -#define CAL_TURRET_DEGREE 7 + +// Distance to drive during initial sequence. (to (x, y) (0, 0)) +#define CAL_INITIAL_DISTANCE1 60.0 +// Distance to drive during initial sequence (to starting position - one robot further then the other, to prevent collissions) +#define CAL_INITIAL_DISTANCE2 20.0 + +#define CAL_TURRET_DEGREE 10 // Left wheel calibration factor WALL-E: 1.4 EVE: 1.0 #define CAL_SERVO_LEFT 1.4 // Right wheel calibration factor WALL-E: 1.0 EVE: 1.1 #define CAL_SERVO_RIGHT 1.0 +// Movement calibration +// Turn calibration (ms per degree) #define CAL_MOVE_TURN 6.05 +// Straight calibration ((1/ms) per cm) +#define CAL_MOVE_TURN 0.0154 |