current limit on shovel

[aversive.git] / projects / microb2010 / mainboard / main.h

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 07986990c0f671d3cba2714a9646f6d6c7f9f527..00b6e8630b7e0d3abeae7d6d9cd5ebb196d9cc6b 100755 (executable)
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -76,11 +76,11 @@
 #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