text: /*
   *  Player - One Hell of a Robot Server
   *  Copyright (C) 2000
   *     Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
   *                   
   *
   *  This program is free software; you can redistribute it and/or modify
   *  it under the terms of the GNU General Public License as published by
   *  the Free Software Foundation; either version 2 of the License, or
   *  (at your option) any later version.
   *
   *  This program is distributed in the hope that it will be useful,
   *  but WITHOUT ANY WARRANTY; without even the implied warranty of
   *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   *  GNU General Public License for more details.
   *
   *  You should have received a copy of the GNU General Public License
   *  along with this program; if not, write to the Free Software
   *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
   *
   */
  /*
   * Copyright (C) 2002
   * John Sweeney, Laboratory for Perceptual Robotics, UMASS, Amherst
   *
   * $Id: reb_params.h 1169 2002-12-10 05:34:27Z jazzfunk $
   * 
   * reb_params.h
   *
   * Parameters for the UMASS Ubots. 
  */
  
  #ifndef _REB_PARAMS_H
  #define _REB_PARAMS_H
  
  #include <player.h>
  
  void initialize_reb_params(void);
  
  #define PLAYER_NUM_UBOT_ROBOT_TYPES 2
  
  
  // here are some parameters for the ubot
  typedef struct {
    char *Class;
    char *Subclass;
    int32_t MaxVelocity; // max translational velocity in mm/s
    int32_t MaxRVelocity; // max rotational velocity in deg/s
    int32_t RobotRadius; // radius in mm
    int32_t RobotAxleLength; // length from wheel contact to contact in mm
    double PulsesPerMM; // number of pulses per MM
    int32_t PulsesPerMMF; // fixed point of previous (previous * REB_FIXED_FACTOR)
    double MMPerPulses; // for completeness, inverse of previous, reduce # of floating ops
    int32_t MMPerPulsesF;
    double PulsesPerMMMS; // previous constants adjusted for time factor in velocity
    int32_t PulsesPerMMMSF;
    double MMPerPulsesMS;
    int32_t MMPerPulsesMSF;
    uint16_t NumberIRSensors;
    int16_t ir_pose[PLAYER_IR_MAX_SAMPLES][3]; // each row is {x, y, theta} in robo-centric coords (mm, mm, deg)
    uint16_t pos_kp, pos_ki, pos_kd;
  } UBotRobotParams_t;
    
  extern UBotRobotParams_t PlayerUBotRobotParams[];
  
  #endif
  