X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcs.c;h=fbb28d9004d1adf97f1b686d48a5b0576ba81dd1;hp=896fa163570950e56ce533717f9f41c99eb59146;hb=5573d7668c4fe0cde51b566d086582cf3d9c7e4b;hpb=092caa88280f71fb58e5938114304fe2e94d6855

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index 896fa16..fbb28d9 100644
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -212,9 +212,9 @@ void microb_cs_init(void)
 				 RIGHT_ENCODER, IMP_COEF * 1.);
 #else
 	rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-				LEFT_ENCODER, IMP_COEF * -1.011718);
+				LEFT_ENCODER, IMP_COEF * -1.012729);
 	rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-				 RIGHT_ENCODER, IMP_COEF * 1.012695);
+				 RIGHT_ENCODER, IMP_COEF * 1.01370769);
 #endif
 	/* rs will use external encoders */
 	rs_set_flags(&mainboard.rs, RS_USE_EXT);
@@ -223,7 +223,7 @@ void microb_cs_init(void)
 	position_init(&mainboard.pos);
 	position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 	position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
-	//position_set_centrifugal_coef(&mainboard.pos, 0.000025);
+	position_set_centrifugal_coef(&mainboard.pos, 0.000016);
 	position_use_ext(&mainboard.pos);
 
 	/* TRAJECTORY MANAGER */