reliability

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

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index f98bd99..abe92f2 100755 (executable)
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -76,7 +76,7 @@
 #define MATCH_TIME 89
 
 /* decrease track to decrease angle */
-#define EXT_TRACK_MM 304.61875
+#define EXT_TRACK_MM 305.1097108
 #define VIRTUAL_TRACK_MM EXT_TRACK_MM
 
 #define ROBOT_HALF_LENGTH_FRONT 130
@@ -217,24 +217,16 @@ struct ballboard {
        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);