X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=07986990c0f671d3cba2714a9646f6d6c7f9f527;hp=367718ffe52cefe79c6f05daa1f1b0e043a84aee;hb=092caa88280f71fb58e5938114304fe2e94d6855;hpb=78150017ab8c5615af414df706a0525fe7c262ae

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 367718f..0798699 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -19,6 +19,8 @@
  *
  */
 
+/* was sensorboard in 2009 */
+
 #define LED_TOGGLE(port, bit) do {		\
 		if (port & _BV(bit))		\
 			port &= ~_BV(bit);	\
@@ -74,11 +76,11 @@
 #define MATCH_TIME 89
 
 /* decrease track to decrease angle */
-#define EXT_TRACK_MM 304.61875
+#define EXT_TRACK_MM 304.9
 #define VIRTUAL_TRACK_MM EXT_TRACK_MM
 
-#define ROBOT_HALF_LENGTH_FRONT 130
-#define ROBOT_HALF_LENGTH_REAR 120
+#define ROBOT_HALF_LENGTH_FRONT 180
+#define ROBOT_HALF_LENGTH_REAR 70
 #define ROBOT_WIDTH 320
 
 /* it is a 1024 imps -> 4096 because we see 1/4 period
@@ -119,7 +121,7 @@
 #define I2C_POLL_PRIO       20
 #define EEPROM_TIME_PRIO    10
 
-#define CS_PERIOD 5000L /* in microsecond */ 
+#define CS_PERIOD 5000L /* in microsecond */
 #define CS_HZ (1000000. / CS_PERIOD)
 
 #define NB_LOGS 4
@@ -194,6 +196,8 @@ struct mainboard {
 struct cobboard {
 	uint8_t mode;
 	uint8_t status;
+	uint8_t lspickle;
+	uint8_t rspickle;
 	int16_t left_cobroller_speed;
 	int16_t right_cobroller_speed;
 	uint8_t cob_count;
@@ -204,6 +208,8 @@ struct ballboard {
 	volatile uint8_t mode;
 	uint8_t status;
 	uint8_t ball_count;
+	uint8_t lcob;
+	uint8_t rcob;
 };
 
 extern struct genboard gen;