33 #define OBOT_DEFAULT_PORT "/dev/usb/ttyUSB1"
36 #define OBOT_DELAY_US 50000
39 #define OBOT_PUBLISH_INTERVAL 0.1
43 #define OBOT_AXLE_LENGTH 0.317
44 #define OBOT_WHEEL_DIAM 0.10795
45 #define OBOT_WHEEL_CIRCUM (OBOT_WHEEL_DIAM * M_PI)
46 #define OBOT_TICKS_PER_REV 11600.0
47 #define OBOT_M_PER_TICK (OBOT_WHEEL_CIRCUM / OBOT_TICKS_PER_REV)
49 #define OBOT_PID_FREQUENCY (1/1.9375e-3)
50 #define OBOT_MAGIC_TIMING_CONSTANT 1.0
51 #define OBOT_MPS_PER_TICK (OBOT_M_PER_TICK * OBOT_PID_FREQUENCY / \
52 OBOT_MAGIC_TIMING_CONSTANT)
53 #define OBOT_WIDTH 0.45
54 #define OBOT_LENGTH 0.45
55 #define OBOT_POSE_X 0.0
56 #define OBOT_POSE_Y 0.0
57 #define OBOT_POSE_A 0.0
58 #define OBOT_NOMINAL_VOLTAGE 48.0
61 #define OBOT_MAX_TICS 2147483648U
65 #define OBOT_MAX_WHEELSPEED 5.0
68 #define OBOT_MIN_WHEELSPEED_TICKS 5
75 #define OBOT_INIT1 253
76 #define OBOT_INIT2 252
77 #define OBOT_INIT3 251
80 #define OBOT_DEINIT 250
82 #define OBOT_SET_VELOCITIES 118
83 #define OBOT_SET_ACCELERATIONS 97
84 #define OBOT_ENABLE_VEL_CONTROL 101
85 #define OBOT_DISABLE_VEL_CONTROL 100
86 #define OBOT_GET_ODOM 111
87 #define OBOT_GET_VOLTAGE 98
90 #define OBOT_HEARTBEAT 104