Import the project

1 files changed, 18 insertions, 0 deletions

diff --git a/controllers/final/constants.py b/controllers/final/constants.py
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+++ b/controllers/final/constants.py
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+from math import pi
+
+P1 = 4. # Cooeffecient for correcting the angle.
+P2 = 4. # Cooeffecient for correcting the distance.
+
+JAR_OFFSETS = [0.16, 0.03, 0.07] # An offset for each jar when calculating the position to pick it up.
+PG_DIST = [.2, .44, .37] # Distance to allow from the counter after grabbing.
+
+MAX_SPEED = 2. * pi
+WALK_SPEED = 1. # The speed to use when going at a constant pace.
+ROTATION_SPEED = 1. # The speed to use when only rotating the robot.
+TIMEOUT = 30. # Typical timeout limit for each behaviour.
+GRIPPER_TIMEOUT = 3. # Timeout for the gripper behaviours.
+GRASP_THRESHOLD = -5. # Force with which to grab the jars.
+APPROACH_STOP = .16 # Point at which to stop when approaching the jar.
+JOINT_TOLERANCE = .01 # Tolerance for joint movement.
+ANGLE_TOLERANCE = .05 # Tolerance for when rotating the robot.
+ARM_OFFSET = .6 # Must take into account the length of the arm when grabbing the jars.