[Krobot-commits] [SCM] krobot branch, master, updated. ce6642eab29a499e22861634dea8201d3580c2e3

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit ce6642eab29a499e22861634dea8201d3580c2e3
Author: Xavier Lagorce <Xav...@cr...>
Date:   Mon May 6 22:39:25 2013 +0200

    [Krobot_config] Better parameters for perimeter and Urg positionning

-----------------------------------------------------------------------

Changes:
diff --git a/info/control2011/src/lib/krobot_config.ml b/info/control2011/src/lib/krobot_config.ml
index be24feb..e7975da 100644
--- a/info/control2011/src/lib/krobot_config.ml
+++ b/info/control2011/src/lib/krobot_config.ml
@@ -11,11 +11,11 @@ let sqr x = x *. x
 
 let world_height = 2.
 let world_width = 3.
-let robot_length = 0.22
-let robot_width = 0.33
+let robot_length = 0.225
+let robot_width = 0.30
 let wheels_diameter = 0.098
 let wheels_distance = 0.224
-let wheels_position = 0.04
+let wheels_position = 0.055
 let robot_radius =
   let l1 = robot_length -. wheels_position in
   let l2 = robot_width /. 2. in
@@ -123,7 +123,7 @@ let initial_coins = []
     (* 2.55, 0.3; *) ]
 *)
 
-let urg_position = { x = 0.19; y = 0. }
+let urg_position = { x = 0.135; y = 0. }
 
 let urg_angles =
   [|-2.356194490192344836998472601408; -2.350058567040802071090865865699;


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