delete magic numbers in autopilot

2022-03-03 10:29:16 +01:00
parent d97be897c1
commit 552c98c71a
4 changed files with 65 additions and 10 deletions
@@ -0,0 +1,54 @@
+/**
+ * @file autopilotConfig.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Some defines to configure the behaviour of the autopilot
+ * @version 0.1
+ * @date 2022-03-02
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef AUTOPILOT_CONFIG_H
+#define AUTOPILOT_CONFIG_H
+
+/**
+ * @brief 
+ * 
+ */
+#define AUTOPILOT_MAX_SPEED 0.5
+
+/**
+ * @brief Max speed in the near of target point
+ */
+#define AUTOPILOT_SPEED_2 0.25
+
+/**
+ * @brief Distance in meters
+ * 
+ * If this distance to the next point is reached the autopilot will drive
+ * now with the speed set by AUTOPILOT_SPEED_2
+ */
+#define MIN_DISTANCE_FOR_SPEED_2 4
+
+/**
+ * @brief Needed distance to the next point to choose the next point as target.
+ */
+#define MIN_DISTANCE_TO_NEXT_POINT 2
+
+
+/**
+ * @brief Minimal course correction
+ * If the needed correction in degree is lower than this value the rover will
+ * be drive straight on.
+ */
+#define MIN_COURSE_CORRECTION_TO_ACT 5
+
+/**
+ * @brief Course correction factor
+ * This value is used by the setRotInRelToDistance function and is used to calculate
+ * the value for setRotationspeed.
+ */
+#define COURSE_CORRECTION_FACTOR 30
+
+#endif // AUTOPILOT_CONFIG_H