From 96d00d0cc41388e9309a5cae8221ad303afb8f58 Mon Sep 17 00:00:00 2001
From: "John P Mayer, Jr" <john.p.mayer.jr@gmail.com>
Date: Mon, 19 Dec 2011 19:27:43 -0500
Subject: [PATCH] little tweak for long-distance red

---
 prod/config.h | 21 ++++++++++++++++++---
 1 file changed, 18 insertions(+), 3 deletions(-)

diff --git a/prod/config.h b/prod/config.h
index dcd65ef..89197fb 100644
--- a/prod/config.h
+++ b/prod/config.h
@@ -2,18 +2,33 @@
 #define PI 3.1415926
 #define GET5(x) (x >> 11)// & ((1 << 5) - 1))
 #define GET11(x) (x & ((1<<11)-1))
+
+// Kinect View region constants
 #define W 640
 #define H 480
 #define REGION_RES 40
+
+// Is obstacle distance metric
 #define D_THRESH 150
+
+// for detecting non-obstacled red things
 #define R_COUNT_THRESH 75
-#define HSV_CNT_THRESH_CLOSE 150
-#define HSV_CNT_THRESH_FAR 100
+#define HSV_CNT_THRESH_CLOSE 300 
+
+// for detecting 'redness' of obstacle masks (failsafe)
+#define RED_RATIO_THRESH .5
+#define HSV_CNT_THRESH_FAR 100 
+
+// Modes of operation
 #define MODE_SEEK 0
 #define MODE_UTURN 1
 #define MODE_RETURN 2
 #define MODE_FINISH 3
+
+// Angle precision
 #define UTURN_THRESH 0.1
+
+// Avoidance 'strafe' constants
 #define Y_AVOID_S 200
 #define Y_AVOID_L 400
-#define RED_RATIO_THRESH .5
+