jakob.kampichler/libcreate
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Add support for early model Roomba 400s and other robots using the original SCI protocol.

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This commit is contained in:
Ben Wolsieffer 2016-07-13 21:50:32 -04:00
parent c68a308c71
commit 618956e14c
18 changed files with 675 additions and 307 deletions
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17
include/create/util.h
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@ -40,17 +40,12 @@ POSSIBILITY OF SUCH DAMAGE.
namespace create {
namespace util {
static const float CREATE_1_AXLE_LENGTH = 0.26;
static const uint8_t CREATE_2_HEADER = 19;
static const float CREATE_2_AXLE_LENGTH = 0.235;
static const float CREATE_2_TICKS_PER_REV = 508.8;
static const uint32_t CREATE_2_MAX_ENCODER_TICKS = 65535;
static const float CREATE_2_WHEEL_DIAMETER = 0.078;
static const float CREATE_2_MAX_VEL = 0.5;
static const float CREATE_2_MAX_RADIUS = 2.0;
static const float CREATE_2_STRAIGHT_RADIUS = 32.768;
static const float CREATE_2_IN_PLACE_RADUIS = 0.001;
static const uint8_t STREAM_HEADER = 19;
static const float V_3_TICKS_PER_REV = 508.8;
static const uint32_t V_3_MAX_ENCODER_TICKS = 65535;
static const float MAX_RADIUS = 2.0;
static const float STRAIGHT_RADIUS = 32.768;
static const float IN_PLACE_RADIUS = 0.001;
static const float PI = 3.14159;
static const float TWO_PI = 6.28318;
static const float EPS = 0.0001;