((local_r_pwm * 1000 * FILTER2)/1000);
/* basic collision detection */
- a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_FRONT);
- d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_FRONT);
+ a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
+ d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
xfl = x + cos(a+a2) * d;
yfl = y + sin(a+a2) * d;