X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=2fe71997a0264a5085d31fe40351235db195ea73;hp=03bc688a35f41acf5076bfe43d64165ea3c245b0;hb=9aa3fc56bec05ac20424c58ea58faf4a8fb414f0;hpb=f1fab48d45873bc23dccbae5db393afd2942570c

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 03bc688..2fe7199 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -93,7 +93,7 @@
  * and diameter: 55mm -> perimeter 134mm
  * dist_imp_mm = 4096/134 x 10 -> 304 */
 /* increase it to go further */
-#define IMP_ENCODERS 1024
+#define IMP_ENCODERS 1000
 #define WHEEL_DIAMETER_MM 42.9
 #define WHEEL_PERIM_MM (WHEEL_DIAMETER_MM * M_PI)
 #define IMP_COEF 10.
@@ -217,24 +217,16 @@ struct ballboard {
 	uint8_t ball_count;
 	uint8_t lcob;
 	uint8_t rcob;
-};
-
-/* state of beaconboard, sync'd through uart */
-struct beaconboard {
-	int16_t oppx;
-	int16_t oppy;
-	int16_t oppa;
-	int16_t oppd;
-	uint16_t posx;
-	uint16_t posy;
-	uint16_t posa; /* between 0 and 3600 */
+	int16_t opponent_x;
+	int16_t opponent_y;
+	int16_t opponent_a;
+	int16_t opponent_d;
 };
 
 extern struct genboard gen;
 extern struct mainboard mainboard;
 extern volatile struct cobboard cobboard;
 extern volatile struct ballboard ballboard;
-extern volatile struct beaconboard beaconboard;
 
 /* start the bootloader */
 void bootloader(void);