[CrashZero]

well here is the navigate.h file:

/*******************************************************************************
*
*	TITLE:		navigate.h 
*
*	VERSION:	1.0                          
*
*	DATE:		08-Jan-2004
*
*	AUTHOR:		Richard D. Petras
*
*	COMMENTS:
*
********************************************************************************
*
*	CHANGE LOG:
*
*	DATE         REV  DESCRIPTION
*	-----------  ---  ----------------------------------------------------------
*	03-Dec-2003  0.1  
*   08-Jan-2004  1.0  RDP The version used at the 2004 kickoff
*
*******************************************************************************/
#ifndef _navigate_h
#define _navigate_h

#include "tracker.h"

// Navigator state machine values
// These values will be stored in a global variable called 
// Navigator_State.  As each state transition is detected,
// the state will change to describe how the vehicle should
// operate.
#define WAIT_TO_DRIVE 0
#define	DRIVE_TO_CENTER 1
#define	TURN_TO_TARGET 2
#define	DRIVE_TO_TARGET 3
#define	PASSED_TARGET 4
#define	AT_TARGET 5
#define OVER_CURRENT 6

// Drive state 
// These values are stored in the drive_state variable.  They tell
// us where the beacon is with respect to each tracker on the robot.
#define DR_UNDEFINED 0
#define DR_BOTH_LEFT 1
#define DR_BOTH_RIGHT 2
#define DR_BOTH_STRAIGHT 3
#define DR_BOTH_CENTER 4
#define DR_LEFT_STRAIGHT 5
#define DR_RIGHT_STRAIGHT 6
#define DR_REFLECTION 7

// Some values for each individual tracker
#define DR_LEFT 0
#define DR_CENTER 1
#define DR_RIGHT 2

// Which pwms are our tracker servoes and drive motors?  It
// is nice to only have to change this in one place.
#define left_servo pwm10
#define right_servo pwm11
#define left_drive pwm14 
#define right_drive pwm15

// Simplify the big structure for beacon quality
// from the tracker code.
#define LL Sensor_Stats[0].Beacon_Quality[Tracker_Data[left].Beacon_Type]
#define LR Sensor_Stats[1].Beacon_Quality[Tracker_Data[left].Beacon_Type]
#define RL Sensor_Stats[2].Beacon_Quality[Tracker_Data[right].Beacon_Type]
#define RR Sensor_Stats[3].Beacon_Quality[Tracker_Data[right].Beacon_Type]

// The rest of these defines are tweekable parameters to fit
// the characteristics of different drive trains.  You might
// want to divide these into a separate set of values for the
// left and right side drives if your motor characteristics
// are sufficiently different.  This would require changing
// navigator.c, but the places to make the changes should be 
// obvious. :-)

//  Stop values
#define LSTOP 127      
#define RSTOP 127

// Fast backward
#define FBWD (LSTOP - 90)

// Slow Backward
#define SBWD (LSTOP - 55)

// Very Slow Backward
#define VSBWD (LSTOP - 10)

// Very Slow Forward
#define VSFWD (LSTOP + 10)

// Slow Forward
#define SFWD (LSTOP + 55)

// Fast Forward
#define FFWD (LSTOP + 90)

// Note: All the logic assumes the servo max points right
// Its not too hard to change the code to accomidate the other
// direction, in fact the code started out that way...

// These values are the servo settings (assuming 127 is straight
// ahead) that tells you that the beacon is between the trackers
// and about 1/2 meter ahead.  The exact values will depend on the
// baseline of your trackers.
#define LEFT_GOAL 135
#define RIGHT_GOAL 120

// These values tell you when the target is far to the left of the
// left servo, or far to the right of the right servo.  We switch
// navigator states at this point
#define LEFT_PASS 60
#define RIGHT_PASS 195

// Adjust these for your drive train

// This is the gain that is multiplied by your pointing error.
// It can be used as part of a feedback loop to steer toward the
// goal.  Note: the error calculation is included in the code
// as an example, but was not used in the actual kickoff demo.
// (we wanted to drive straight until we passed the goal)
#define DRIVE_GAIN 2

// This is a timer for the short drive away from the wall before
// we startt to turn in place toward the beacon.
#define DRIVE_TO_CENTER_TIME 5

// I bet you didn't know we were using the current sensors in the
// kickoff demo.  If the current sensor reading got above this 
// value, we might be up against the wall.  In that case we might
// want to stop driving for a short time to allow the robot to level 
// out.
#define MAX_CURRENT 700


// If we haven't seen the target with any of the trackers for 
// a while,  just start searching again by turning in place.  
//#define LOST_TARGET_TIMEOUT 100

// Declaration for the Navigate function
void Navigate(void);

#endif // _navigate_h