From: zer0 <zer0@carbon.local>
Date: Thu, 13 May 2010 13:41:27 +0000 (+0200)
Subject: coefs
X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=commitdiff_plain;h=9aa3fc56bec05ac20424c58ea58faf4a8fb414f0;hp=5573d7668c4fe0cde51b566d086582cf3d9c7e4b

coefs
---

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index fbb28d9..0700469 100644
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -212,9 +212,9 @@ void microb_cs_init(void)
 				 RIGHT_ENCODER, IMP_COEF * 1.);
 #else
 	rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-				LEFT_ENCODER, IMP_COEF * -1.012729);
+				LEFT_ENCODER, IMP_COEF * -1.011718);
 	rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-				 RIGHT_ENCODER, IMP_COEF * 1.01370769);
+				 RIGHT_ENCODER, IMP_COEF * 1.012695);
 #endif
 	/* rs will use external encoders */
 	rs_set_flags(&mainboard.rs, RS_USE_EXT);
diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index abe92f2..2fe7199 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -76,7 +76,7 @@
 #define MATCH_TIME 89
 
 /* decrease track to decrease angle */
-#define EXT_TRACK_MM 305.1097108
+#define EXT_TRACK_MM 304.61875
 #define VIRTUAL_TRACK_MM EXT_TRACK_MM
 
 #define ROBOT_HALF_LENGTH_FRONT 130