From 1c5d5350411f25fde6168c301b68fe7fe125cf0e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 13 Apr 2010 00:21:38 +0200 Subject: digital/io/src: add new position_t type --- digital/io/src/main.c | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) (limited to 'digital/io/src/main.c') diff --git a/digital/io/src/main.c b/digital/io/src/main.c index bb0a0205..fdc4bfcc 100644 --- a/digital/io/src/main.c +++ b/digital/io/src/main.c @@ -250,12 +250,9 @@ main_loop (void) { uint8_t obs_nb; vect_t obs_pos[2]; - asserv_position_t cur_pos; - vect_t robot_pos; - robot_pos.x = cur_pos.x; - robot_pos.y = cur_pos.y; - asserv_get_position (&cur_pos); - obs_nb = radar_update (robot_pos, cur_pos.a, obs_pos); + position_t robot_pos; + asserv_get_position (&robot_pos); + obs_nb = radar_update (robot_pos.v, robot_pos.a, obs_pos); simu_send_pos_report (obs_pos, obs_nb, 0); } #endif @@ -291,10 +288,10 @@ main_loop (void) if (main_stats_asserv_ && !--main_stats_asserv_cpt_) { /* Get current position */ - asserv_position_t cur_pos; + position_t cur_pos; asserv_get_position (&cur_pos); /* Send stats */ - proto_send3w ('A', cur_pos.x, cur_pos.y, cur_pos.a); + proto_send3w ('A', cur_pos.v.x, cur_pos.v.y, cur_pos.a); /* Reset stats counter */ main_stats_asserv_cpt_ = main_stats_asserv_; } -- cgit v1.2.3