X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=2fe71997a0264a5085d31fe40351235db195ea73;hp=1c41d8933c9ce5c5b71f97827c69abfc83644e88;hb=HEAD;hpb=51418f44261edc59d818ca990456726027e366ad

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 1c41d89..2fe7199 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -83,11 +83,17 @@
 #define ROBOT_HALF_LENGTH_REAR 120
 #define ROBOT_WIDTH 320
 
+#ifdef HOST_VERSION
+#define ROBOT_ANGLE_FRONT 0.
+#else
+#define ROBOT_ANGLE_FRONT 0.75 // 0.27
+#endif
+
 /* it is a 1024 imps -> 4096 because we see 1/4 period
  * 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.
@@ -122,7 +128,7 @@
 #define BEACON_PRIO         15
 #define EEPROM_TIME_PRIO    10
 
-#define CS_PERIOD 5000L /* in microsecond */
+#define CS_PERIOD ((5000L/SCHEDULER_UNIT)*SCHEDULER_UNIT) /* in microsecond */
 #define CS_HZ (1000000. / CS_PERIOD)
 
 #define NB_LOGS 4
@@ -211,23 +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;
+	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);