-/* IR_DELAY **must** be < 32768 */
-#if (defined SPEED_10RPS)
-#define MIN_INTER_TIME ((uint16_t)(160*2)) /* t~=160us dist=350cm */
-#define MAX_INTER_TIME ((uint16_t)(8000*2)) /* t=8ms dist=10cm */
-#define IR_DELAY ((uint16_t)(8000*2))
-#define INTER_LASER_TIME 30 /* in ms */
-#elif (defined SPEED_20RPS)
-#define MIN_INTER_TIME ((uint16_t)(40*16)) /* t~=80us dist=350cm */
-#define MAX_INTER_TIME ((uint16_t)(2000*16)) /* t=2ms dist=? >10cm */
-#define IR_DELAY ((uint16_t)(2000*16))
-#define INTER_LASER_TIME 10 /* in ms */
-#elif (defined SPEED_40RPS)
-#define MIN_INTER_TIME ((uint16_t)(40*16)) /* t~=40us dist=350cm */
-#define MAX_INTER_TIME ((uint16_t)(2000*16)) /* t=2ms dist=10cm */
-#define IR_DELAY ((uint16_t)(2000*16))
+/* IR_DELAY must be < 32768 */
+#define MIN_INTER_TIME ((uint16_t)(100*16U)) /* t~=160us dist=400cm */
+#define MAX_INTER_TIME ((uint16_t)(4000*16U)) /* t=4ms dist=16cm */
+#define IR_DELAY ((uint16_t)(MAX_INTER_TIME/2))