From 037c8288f2738791cbf44975ffeee426da6fce19 Mon Sep 17 00:00:00 2001 From: A Farzat Date: Thu, 27 Nov 2025 07:02:52 +0300 Subject: Import the project --- controllers/final/constants.py | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) create mode 100644 controllers/final/constants.py (limited to 'controllers/final/constants.py') diff --git a/controllers/final/constants.py b/controllers/final/constants.py new file mode 100644 index 0000000..0c559b6 --- /dev/null +++ b/controllers/final/constants.py @@ -0,0 +1,18 @@ +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. -- cgit v1.2.3-70-g09d2