55 lines
1.1 KiB
C
55 lines
1.1 KiB
C
/**
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* @file autopilotConfig.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Some defines to configure the behaviour of the autopilot
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* @version 0.1
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* @date 2022-03-02
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#ifndef AUTOPILOT_CONFIG_H
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#define AUTOPILOT_CONFIG_H
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/**
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* @brief
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*
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*/
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#define AUTOPILOT_MAX_SPEED 0.5
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/**
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* @brief Max speed in the near of target point
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*/
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#define AUTOPILOT_SPEED_2 0.25
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/**
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* @brief Distance in meters
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*
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* If this distance to the next point is reached the autopilot will drive
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* now with the speed set by AUTOPILOT_SPEED_2
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*/
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#define MIN_DISTANCE_FOR_SPEED_2 4
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/**
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* @brief Needed distance to the next point to choose the next point as target.
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*/
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#define MIN_DISTANCE_TO_NEXT_POINT 2
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/**
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* @brief Minimal course correction
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* If the needed correction in degree is lower than this value the rover will
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* be drive straight on.
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*/
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#define MIN_COURSE_CORRECTION_TO_ACT 5
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/**
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* @brief Course correction factor
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* This value is used by the setRotInRelToDistance function and is used to calculate
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* the value for setRotationspeed.
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*/
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#define COURSE_CORRECTION_FACTOR 30
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#endif // AUTOPILOT_CONFIG_H
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