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turtlebot3_waffle.h
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turtlebot3_waffle.h
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/*******************************************************************************
* Copyright 2016 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
/* Authors: Yoonseok Pyo, Leon Jung, Darby Lim, HanCheol Cho */
#ifndef TURTLEBOT3_WAFFLE_H_
#define TURTLEBOT3_WAFFLE_H_
#define NAME "Waffle or Waffle Pi"
#define WHEEL_RADIUS 0.033 // meter
#define WHEEL_SEPARATION 0.287 // meter (BURGER : 0.160, WAFFLE : 0.287)
#define TURNING_RADIUS 0.1435 // meter (BURGER : 0.080, WAFFLE : 0.1435)
#define ROBOT_RADIUS 0.220 // meter (BURGER : 0.105, WAFFLE : 0.220)
#define ENCODER_MIN -2147483648 // raw
#define ENCODER_MAX 2147483648 // raw
#define MAX_LINEAR_VELOCITY (WHEEL_RADIUS * 2 * 3.14159265359 * 77 / 60) // m/s (BURGER : 61[rpm], WAFFLE : 77[rpm])
#define MAX_ANGULAR_VELOCITY (MAX_LINEAR_VELOCITY / TURNING_RADIUS) // rad/s
#define MIN_LINEAR_VELOCITY -MAX_LINEAR_VELOCITY
#define MIN_ANGULAR_VELOCITY -MAX_ANGULAR_VELOCITY
#endif //TURTLEBOT3_WAFFLE_H_