From 9aa3fc56bec05ac20424c58ea58faf4a8fb414f0 Mon Sep 17 00:00:00 2001 From: zer0 Date: Thu, 13 May 2010 15:41:27 +0200 Subject: [PATCH] coefs --- projects/microb2010/mainboard/cs.c | 4 ++-- projects/microb2010/mainboard/main.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) 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 -- 2.20.1