-#define ROBOT_AXIS_TO_BRUSH_MM 280 /* ABE */
-#define ROBOT_AXIS_TO_BRUSH_M (ROBOT_AXIS_TO_BRUSH_MM/1000.0)
-#define HOKUYO_CENTER_OFFSET_MM 0 /*FIXME*/
-#define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
+#define ROBOT_HEIGHT_MM (ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM)
+#define ROBOT_HEIGHT_M (ROBOT_HEIGHT_MM / 1000.0)
+
+#define HOKUYO_CENTER_OFFSET_MM 180
+#define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
+#define HOKUYO_RANGE_ANGLE_LEFT 120.0 /* view angle in degrees from center axis */
+#define HOKUYO_RANGE_ANGLE_RIGHT 120.0
+#define ODOMETRY_WHEEL_RADIUS_MM 30
+#define HOKUYO_ORIENTATION (-1) /* 1 = screws up, -1 = screws down */
+#define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
+#define ODOMETRY_ROTATION_RADIUS_MM (284/2)
+#define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
+#define ROBOT_JAWS_LENGHT_MM 130 /* JA */
+#define ROBOT_JAWS_LENGHT_M (ROBOT_JAWS_LENGHT_MM/1000.0)
+#define ROBOT_LENGHT_WITH_PANWS_MM 170 /* PW */
+#define ROBOT_LENGHT_WITH_PAWNS_M (ROBOT_LENGHT_WITH_PANWS_MM/1000.0)
+#define ROBOT_AXIS_TO_FIGURE_CENTER_MM 300
+#define ROBOT_AXIS_TO_FIGURE_CENTER_M (ROBOT_AXIS_TO_FIGURE_CENTER_MM/1000.0)
+
+#define ROBOT_START_X_MM ROBOT_AXIS_TO_BACK_MM
+#define ROBOT_START_X_M (ROBOT_START_X_MM / 1000.0)
+#define ROBOT_START_Y_MM (PLAYGROUND_HEIGHT_MM - (ROBOT_WIDTH_MM / 2))
+#define ROBOT_START_Y_M (ROBOT_START_Y_MM / 1000.0)
+#define ROBOT_START_ANGLE_DEG 0
+/* maxon motor parameters ratio */
+/* DO NOT change this if not shure what you are doing !!! */
+#define ROBOT_MOTOR_GEARBOX_RATIO 29.0
+#define ROBOT_MOTOR_IRC_RESOLUTION 512.0