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[aversive.git]
/
projects
/
microb2010
/
mainboard
/
main.h
diff --git
a/projects/microb2010/mainboard/main.h
b/projects/microb2010/mainboard/main.h
index
4fa3dd8
..
0798699
100755
(executable)
--- a/
projects/microb2010/mainboard/main.h
+++ b/
projects/microb2010/mainboard/main.h
@@
-19,7
+19,7
@@
*
*/
*
*/
-/* was
mech
board in 2009 */
+/* was
sensor
board in 2009 */
#define LED_TOGGLE(port, bit) do { \
if (port & _BV(bit)) \
#define LED_TOGGLE(port, bit) do { \
if (port & _BV(bit)) \
@@
-76,11
+76,11
@@
#define MATCH_TIME 89
/* decrease track to decrease angle */
#define MATCH_TIME 89
/* decrease track to decrease angle */
-#define EXT_TRACK_MM 304.
61875
+#define EXT_TRACK_MM 304.
9
#define VIRTUAL_TRACK_MM EXT_TRACK_MM
#define VIRTUAL_TRACK_MM EXT_TRACK_MM
-#define ROBOT_HALF_LENGTH_FRONT 1
3
0
-#define ROBOT_HALF_LENGTH_REAR
12
0
+#define ROBOT_HALF_LENGTH_FRONT 1
8
0
+#define ROBOT_HALF_LENGTH_REAR
7
0
#define ROBOT_WIDTH 320
/* it is a 1024 imps -> 4096 because we see 1/4 period
#define ROBOT_WIDTH 320
/* it is a 1024 imps -> 4096 because we see 1/4 period
@@
-208,6
+208,8
@@
struct ballboard {
volatile uint8_t mode;
uint8_t status;
uint8_t ball_count;
volatile uint8_t mode;
uint8_t status;
uint8_t ball_count;
+ uint8_t lcob;
+ uint8_t rcob;
};
extern struct genboard gen;
};
extern struct genboard gen;