X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=07986990c0f671d3cba2714a9646f6d6c7f9f527;hp=c38a234eda0c4de9c0574e366e36f6fee16c4eff;hb=092caa88280f71fb58e5938114304fe2e94d6855;hpb=9d056416278ae5d772a0fc1f7d2d11a4461fb673 diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h index c38a234..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