coefs

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index fbb28d9004d1adf97f1b686d48a5b0576ba81dd1..070046955e7d2dbcbbf6860a549ca905ee209cd3 100644 (file)
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -212,9 +212,9 @@ void microb_cs_init(void)
                                 RIGHT_ENCODER, IMP_COEF * 1.);
 #else
        rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-                               LEFT_ENCODER, IMP_COEF * -1.012729);
+                               LEFT_ENCODER, IMP_COEF * -1.011718);
        rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-                                RIGHT_ENCODER, IMP_COEF * 1.01370769);
+                                RIGHT_ENCODER, IMP_COEF * 1.012695);
 #endif
        /* rs will use external encoders */
        rs_set_flags(&mainboard.rs, RS_USE_EXT);

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index abe92f23503f9b84a203322e393a7548c68dc9cf..2fe71997a0264a5085d31fe40351235db195ea73 100755 (executable)
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -76,7 +76,7 @@
 #define MATCH_TIME 89
 
 /* decrease track to decrease angle */
-#define EXT_TRACK_MM 305.1097108
+#define EXT_TRACK_MM 304.61875
 #define VIRTUAL_TRACK_MM EXT_TRACK_MM
 
 #define ROBOT_HALF_LENGTH_FRONT 130