extern struct genboard gen;
extern struct mainboard mainboard;
-#define SPEED_DIST_FAST 2500
-#define SPEED_ANGLE_FAST 2000
-#define SPEED_DIST_SLOW 1000
-#define SPEED_ANGLE_SLOW 1000
-#define SPEED_DIST_VERY_SLOW 400
-#define SPEED_ANGLE_VERY_SLOW 400
-
#define WAIT_COND_OR_TIMEOUT(cond, timeout) \
({ \
microseconds __us = time_get_us2(); \