#define MATCH_TIME 89
/* decrease track to decrease angle */
-#define EXT_TRACK_MM 302.0188
+#define EXT_TRACK_MM 304.61875
#define VIRTUAL_TRACK_MM EXT_TRACK_MM
-#define ROBOT_LENGTH 320
+#define ROBOT_HALF_LENGTH_FRONT 130
+#define ROBOT_HALF_LENGTH_REAR 120
#define ROBOT_WIDTH 320
-/* it is a 2048 imps -> 8192 because we see 1/4 period
- * and diameter: 55mm -> perimeter 173mm
- * 8192/173 -> 473 */
+/* it is a 1024 imps -> 4096 because we see 1/4 period
+ * and diameter: 55mm -> perimeter 134mm
+ * dist_imp_mm = 4096/134 x 10 -> 304 */
/* increase it to go further */
-#define IMP_ENCODERS 2048
-#define WHEEL_DIAMETER_MM 55.0
+#define IMP_ENCODERS 1024
+#define WHEEL_DIAMETER_MM 42.9
#define WHEEL_PERIM_MM (WHEEL_DIAMETER_MM * M_PI)
#define IMP_COEF 10.
#define DIST_IMP_MM (((IMP_ENCODERS*4) / WHEEL_PERIM_MM) * IMP_COEF)
#define I2C_POLL_PRIO 20
#define EEPROM_TIME_PRIO 10
-#define CS_PERIOD 5000L
+#define CS_PERIOD 5000L /* in microsecond */
+#define CS_HZ (1000000. / CS_PERIOD)
#define NB_LOGS 4