reliability

[aversive.git] / projects / microb2010 / mainboard / cs.c

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index 896fa16..fbb28d9 100644 (file)
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -212,9 +212,9 @@ void microb_cs_init(void)
                                 RIGHT_ENCODER, IMP_COEF * 1.);
 #else
        rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-                               LEFT_ENCODER, IMP_COEF * -1.011718);
+                               LEFT_ENCODER, IMP_COEF * -1.012729);
        rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-                                RIGHT_ENCODER, IMP_COEF * 1.012695);
+                                RIGHT_ENCODER, IMP_COEF * 1.01370769);
 #endif
        /* rs will use external encoders */
        rs_set_flags(&mainboard.rs, RS_USE_EXT);
@@ -223,7 +223,7 @@ void microb_cs_init(void)
        position_init(&mainboard.pos);
        position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
        position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
-       //position_set_centrifugal_coef(&mainboard.pos, 0.000025);
+       position_set_centrifugal_coef(&mainboard.pos, 0.000016);
        position_use_ext(&mainboard.pos);
 
        /* TRAJECTORY MANAGER */