nxtGTHi_param.m

%%
% Parameters for NXT GT Hi characteristics
% Copyright (C)

%%
% Base sample rate[sec]
Ts = 0.001;

%%
% Load BusObjects
xlsreadsdo('BusObjects.xls', 'Simulink', 'Bus');

%%
% Design Myu Lanbda Curve
Lambda =-1:0.001:1;
myuN =  1   * 1.1 * (exp(100*[-1:0.001:-0.001])-exp(1.0*[-1:0.001:-0.001]));
myuP = (-1) * 1.1 * (exp(-100*[0:0.001:1])-exp(-1.0*[0:0.001:1]));
myu = [myuN, myuP];

%plot(Lambda, myu)
%grid on

%%
% Parameters for Virtual Reality Toolbox
LENGTH  = 27;
WIDTH   = 17;
VR_TS = Ts*10;
START_POS  = [115 0];   % Initial position [pixels]
CAMERA_POS = [100 100]; % camera position for Chaser view [pixels]
TRACK_MAP = double(imread('track.bmp'));
WALL = 128; % gray
LINE = 0;   % black
WALL_MAP = ~(TRACK_MAP - WALL);
LINE_MAP = ~(TRACK_MAP - LINE);

%%
%<EOF>