Revision 61544eee devices/DiWheelDrive/userthread.hpp

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devices/DiWheelDrive/userthread.hpp
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// Speed when driving towards the docking station


  		




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#define CHARGING_SPEED 5


  		




  
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#define DETECTION_SPEED 10


  		




  
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#define DIST_THRESH 100


  		




  
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#define RELEASE_COUNT 200


  		




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// Thresh to determain how much update steps should pass while alining


  		




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#define MAX_CORRECTION_STEPS 260


  		




  
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#define MAX_CORRECTION_STEPS 300


  		




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// Thresh for wheel proxy sensors, when summed values fall below the state changes


  		




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#define PROXY_WHEEL_THRESH 18000


  		




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// Thresh for detecting obsticles


  		




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#define PROXY_RING_THRESH 20000


  		




  
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#define PROXY_RING_THRESH 15000


  		




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// Thresh for how long (update steps) the front sensors are allowed to detect white


  		




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#define WHITE_COUNT_THRESH 120


  		




  
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#define WHITE_COUNT_THRESH 150


  		




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// Rotation around 180 degrees in microradian


  		




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#define ROTATION_180 3141592


  		




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// Rotation around -20 degrees in microradian


  		




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#define ROTATION_20 -349065


  		




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#define ROTATION_DURATION 10000


  		




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#define RING_PROX_FRONT_THRESH 20000


  		




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#define PROX_MAX_VAL 65530


  		




  
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#define RING_PROX_FRONT_THRESH 18000


  		




  
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#define PROX_MAX_VAL 65430


  		




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namespace amiro {


  		




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