* and diameter: 55mm -> perimeter 134mm
* dist_imp_mm = 4096/134 x 10 -> 304 */
/* increase it to go further */
-#define IMP_ENCODERS 1024
+#define IMP_ENCODERS 1000
#define WHEEL_DIAMETER_MM 42.9
#define WHEEL_PERIM_MM (WHEEL_DIAMETER_MM * M_PI)
#define IMP_COEF 10.
uint8_t ball_count;
uint8_t lcob;
uint8_t rcob;
-};
-
-/* state of beaconboard, sync'd through uart */
-struct beaconboard {
- int16_t oppx;
- int16_t oppy;
- int16_t oppa;
- int16_t oppd;
- uint16_t posx;
- uint16_t posy;
- uint16_t posa; /* between 0 and 3600 */
+ int16_t opponent_x;
+ int16_t opponent_y;
+ int16_t opponent_a;
+ int16_t opponent_d;
};
extern struct genboard gen;
extern struct mainboard mainboard;
extern volatile struct cobboard cobboard;
extern volatile struct ballboard ballboard;
-extern volatile struct beaconboard beaconboard;
/* start the bootloader */
void bootloader(void);