X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Frobotsim.c;h=d0aa3ae7ea00b7f2a7c14af014089db38f101667;hp=15b107563e38e59085e6b8dbc40ab6f00d11e8b5;hb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d;hpb=a33ceba76b3770d48c68a321b5d259893ddc613c

diff --git a/projects/microb2010/mainboard/robotsim.c b/projects/microb2010/mainboard/robotsim.c
index 15b1075..d0aa3ae 100644
--- a/projects/microb2010/mainboard/robotsim.c
+++ b/projects/microb2010/mainboard/robotsim.c
@@ -118,8 +118,8 @@ void robotsim_update(void)
 		((local_r_pwm * 1000 * FILTER2)/1000);
 
 	/* basic collision detection */
-	a2 = atan2(ROBOT_WIDTH/2, ROBOT_LENGTH/2);
-	d = norm(ROBOT_WIDTH/2, ROBOT_LENGTH/2);
+	a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
+	d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
 
 	xfl = x + cos(a+a2) * d;
 	yfl = y + sin(a+a2) * d;
@@ -156,9 +156,9 @@ void robotsim_pwm(void *arg, int32_t val)
 {
 	//	printf("%p, %d\n", arg, val);
 	if (arg == LEFT_PWM)
-		l_pwm = val;
+		l_pwm = (val / 1.55);
 	else if (arg == RIGHT_PWM)
-		r_pwm = val;
+		r_pwm = (val / 1.55);
 }
 
 int32_t robotsim_encoder_get(void *arg)