X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=abe92f23503f9b84a203322e393a7548c68dc9cf;hp=54e03b0711a7f623d5efbbe0a1d8c34b90623115;hb=5573d7668c4fe0cde51b566d086582cf3d9c7e4b;hpb=6cb7ed5a0193fd28319561715d80b72423461cc9

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 54e03b0..abe92f2 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -76,18 +76,24 @@
 #define MATCH_TIME 89
 
 /* decrease track to decrease angle */
-#define EXT_TRACK_MM 304.61875
+#define EXT_TRACK_MM 305.1097108
 #define VIRTUAL_TRACK_MM EXT_TRACK_MM
 
 #define ROBOT_HALF_LENGTH_FRONT 130
 #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.
@@ -211,24 +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);