X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Frobotsim.c;h=42a33d9a95fc5fa2676abab379b3147faf766c0a;hb=f5502f60124c62801685777bb7c699bdfb7e1166;hp=7c5283576c21d25343d53360e5fde1ed7867b150;hpb=092caa88280f71fb58e5938114304fe2e94d6855;p=aversive.git

diff --git a/projects/microb2010/mainboard/robotsim.c b/projects/microb2010/mainboard/robotsim.c
index 7c52835..42a33d9 100644
--- a/projects/microb2010/mainboard/robotsim.c
+++ b/projects/microb2010/mainboard/robotsim.c
@@ -227,8 +227,8 @@ void robotsim_update(void)
 		((local_r_pwm * 1000 * FILTER2)/1000);
 
 	/* basic collision detection */
-	a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_FRONT);
-	d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_FRONT);
+	a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
+	d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
 
 	xfl = x + cos(a+a2) * d;
 	yfl = y + sin(a+a2) * d;