X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=07986990c0f671d3cba2714a9646f6d6c7f9f527;hp=4fa3dd8b543ba03e252323ddc3d3fa5f8e1acf51;hb=092caa88280f71fb58e5938114304fe2e94d6855;hpb=19cd41f7920628a962928580cd1618a1ee5750aa

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 4fa3dd8..0798699 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -19,7 +19,7 @@
  *
  */
 
-/* was mechboard in 2009 */
+/* was sensorboard in 2009 */
 
 #define LED_TOGGLE(port, bit) do {		\
 		if (port & _BV(bit))		\
@@ -76,11 +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
@@ -208,6 +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;