X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=2fe71997a0264a5085d31fe40351235db195ea73;hp=c38a234eda0c4de9c0574e366e36f6fee16c4eff;hb=HEAD;hpb=9d056416278ae5d772a0fc1f7d2d11a4461fb673

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index c38a234..2fe7199 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))		\
@@ -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.
@@ -119,9 +125,10 @@
 #define CS_PRIO            100
 #define STRAT_PRIO          30
 #define I2C_POLL_PRIO       20
+#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
@@ -210,6 +217,10 @@ struct ballboard {
 	uint8_t ball_count;
 	uint8_t lcob;
 	uint8_t rcob;
+	int16_t opponent_x;
+	int16_t opponent_y;
+	int16_t opponent_a;
+	int16_t opponent_d;
 };
 
 extern struct genboard gen;