new base mech plate

[aversive.git] / projects / microb2010 / mainboard / main.h

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index ff86dd2..0798699 100755 (executable)
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -19,7 +19,7 @@
  *
  */
 
-/* was mechboard in 2009 */
+/* was sensorboard in 2009 */
 
 #define LED_TOGGLE(port, bit) do {             \
                if (port & _BV(bit))            \
@@ -76,11 +76,11 @@
 #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 ROBOT_HALF_LENGTH_FRONT 130
-#define ROBOT_HALF_LENGTH_REAR 120
+#define ROBOT_HALF_LENGTH_FRONT 180
+#define ROBOT_HALF_LENGTH_REAR 70
 #define ROBOT_WIDTH 320
 
 /* it is a 1024 imps -> 4096 because we see 1/4 period
@@ -196,6 +196,8 @@ struct mainboard {
 struct cobboard {
        uint8_t mode;
        uint8_t status;
+       uint8_t lspickle;
+       uint8_t rspickle;
        int16_t left_cobroller_speed;
        int16_t right_cobroller_speed;
        uint8_t cob_count;
@@ -206,6 +208,8 @@ struct ballboard {
        volatile uint8_t mode;
        uint8_t status;
        uint8_t ball_count;
+       uint8_t lcob;
+       uint8_t rcob;
 };
 
 extern struct genboard gen;