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Diffstat (limited to 'digital/asserv/src/asserv/postrack.c')
-rw-r--r--digital/asserv/src/asserv/postrack.c8
1 files changed, 4 insertions, 4 deletions
diff --git a/digital/asserv/src/asserv/postrack.c b/digital/asserv/src/asserv/postrack.c
index a3b2e8cb..503059f1 100644
--- a/digital/asserv/src/asserv/postrack.c
+++ b/digital/asserv/src/asserv/postrack.c
@@ -28,7 +28,7 @@
#include "modules/math/fixed/fixed.h"
#include "modules/math/math.h"
-#include "counter.h"
+#include "cs.h"
/** Current position, f24.8. */
int32_t postrack_x, postrack_y;
@@ -60,9 +60,9 @@ void
postrack_update (void)
{
int32_t d, dd, da, na, dsc;
- d = counter_right_diff + counter_left_diff; /* 10b */
+ d = encoder_right.diff + encoder_left.diff; /* 10b */
d <<= 16; /* 10.16b */
- if (counter_right_diff == counter_left_diff)
+ if (encoder_right.diff == encoder_left.diff)
{
/* Line. */
postrack_x += fixed_mul_f824 (d, fixed_cos_f824 (postrack_a)) >> 8;
@@ -71,7 +71,7 @@ postrack_update (void)
else
{
/* Arc. */
- dd = counter_right_diff - counter_left_diff; /* 10b */
+ dd = encoder_right.diff - encoder_left.diff; /* 10b */
dd <<= 16; /* 10.16b */
da = fixed_mul_f824 (dd, postrack_footing_factor);/* 8.24b */
/* New angle. */