#define MATCH_TIME 89
/* decrease track to decrease angle */
-#define EXT_TRACK_MM 304.9
+#define EXT_TRACK_MM 304.61875
#define VIRTUAL_TRACK_MM EXT_TRACK_MM
-#define ROBOT_HALF_LENGTH_FRONT 180
-#define ROBOT_HALF_LENGTH_REAR 70
+#define ROBOT_HALF_LENGTH_FRONT 130
+#define ROBOT_HALF_LENGTH_REAR 120
#define ROBOT_WIDTH 320
/* it is a 1024 imps -> 4096 because we see 1/4 period
#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 */
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 */
+};
+
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);