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authorJérémy Dufour2009-05-22 05:59:34 +0200
committerJérémy Dufour2009-05-22 05:59:34 +0200
commit04c1d913e30605715d37fadf83e500ef769296f6 (patch)
tree62d0fe18809cdd0d183682cae7e8d14280d09124 /digital/io
parentc7fd6ddee848841984e3022ad16d0657c2e7275a (diff)
* digital/io/src:
- fix trace for position, - add computed obstacle position.
Diffstat (limited to 'digital/io')
-rw-r--r--digital/io/src/move_cb.c6
-rw-r--r--digital/io/src/trace.trc2
2 files changed, 7 insertions, 1 deletions
diff --git a/digital/io/src/move_cb.c b/digital/io/src/move_cb.c
index 15af0235..f34e441b 100644
--- a/digital/io/src/move_cb.c
+++ b/digital/io/src/move_cb.c
@@ -151,7 +151,7 @@ move_get_next_position (move_position_t *dst)
move_data.backward_movement_allowed);
}
TRACE (TRACE_MOVE__GO_TO, (u16) current_pos.x, (u16) current_pos.y,
- current_pos.a, dst->y, dst->y, move_data.final.a);
+ current_pos.a, dst->x, dst->y, move_data.final.a);
/* Reset try counter. */
move_data.try_again_counter = 3;
return 1;
@@ -214,6 +214,10 @@ move_obstacle_here (void)
MOVE_OBSTACLE_RADIUS, MOVE_OBSTACLE_VALIDITY);
DPRINTF ("Obstacle pos x : %d, pos y : %d\n", move_data.obstacle.x,
move_data.obstacle.y);
+ TRACE (TRACE_MOVE__OBSTACLE, move_data.obstacle.x,
+ move_data.obstacle.y);
+ TRACE (TRACE_MOVE__SHARP, sharp_get_raw (0), sharp_get_raw (1),
+ sharp_get_raw (2), sharp_get_raw (3), sharp_get_raw (4));
}
else
{
diff --git a/digital/io/src/trace.trc b/digital/io/src/trace.trc
index ac788d92..226c388b 100644
--- a/digital/io/src/trace.trc
+++ b/digital/io/src/trace.trc
@@ -5,3 +5,5 @@ EVENT main_timer__late "MainTimer: we are late."
EVENT fsm__handle_event fsm 1 event 1 "FSM[%c]: handle event %i."
EVENT fsm__handle_timeout fsm 1 "FSM[%c]: handle timeout."
EVENT move__go_to xs 2 ys 2 as 2 xd 2 yd 2 ad 2 "Move: (%d, %d, %x) -> (%d, %d, %x)."
+EVENT move__obstacle x 2 y 2 "Move: obstacle a (%d, %d)."
+EVENT move__sharp s 2 s 2 s 2 s 2 s 2 "Sharps values: %x %x %x %x %x."