* 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.