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Diffstat (limited to 'digital/io/src/ai_init_cb.c')
-rw-r--r--digital/io/src/ai_init_cb.c14
1 files changed, 6 insertions, 8 deletions
diff --git a/digital/io/src/ai_init_cb.c b/digital/io/src/ai_init_cb.c
index a1d61967..1fb41b64 100644
--- a/digital/io/src/ai_init_cb.c
+++ b/digital/io/src/ai_init_cb.c
@@ -123,7 +123,7 @@ fsm_branch_t
ai__INIT_SET_Y_POSITION__asserv_last_cmd_ack (void)
{
/* We are facing top border. */
- asserv_set_angle_position (90 * BOT_ANGLE_DEGREE);
+ asserv_set_angle_position (POSITION_A_DEG (90));
return ai_next (INIT_SET_Y_POSITION, asserv_last_cmd_ack);
}
@@ -149,7 +149,7 @@ fsm_branch_t
ai__INIT_GO_AWAY_FROM_THE_WALL__bot_move_succeed (void)
{
/* Face the other wall. */
- asserv_goto_angle (PG_A_VALUE_COMPUTING (180 * BOT_ANGLE_DEGREE));
+ asserv_goto_angle (PG_A_DEG (180));
return ai_next (INIT_GO_AWAY_FROM_THE_WALL, bot_move_succeed);
}
@@ -185,7 +185,7 @@ ai__INIT_WAIT_AFTER_ROTATION__state_timeout (void)
fsm_branch_t
ai__INIT_GO_TO_THE_WALL_AGAIN__bot_move_succeed (void)
{
- asserv_set_x_position (PG_X_VALUE_COMPUTING (BOT_LENGTH / 2));
+ asserv_set_x_position (PG_X (BOT_LENGTH / 2));
return ai_next (INIT_GO_TO_THE_WALL_AGAIN, bot_move_succeed);
}
@@ -211,11 +211,9 @@ fsm_branch_t
ai__INIT_GO_AWAY_FROM_THE_WALL_AGAIN__bot_move_succeed (void)
{
/* Move away from the border. */
- asserv_goto_xya (PG_X_VALUE_COMPUTING (PG_START_ZONE_WIDTH
- - BOT_WIDTH / 2
- - 50),
- PG_LENGTH - PG_START_ZONE_LENGTH + BOT_LENGTH / 2 + 50,
- PG_A_VALUE_COMPUTING (0 * BOT_ANGLE_DEGREE), 0);
+ asserv_goto_xya (PG_X (PG_START_ZONE_WIDTH - BOT_WIDTH / 2 - 50),
+ PG_Y (PG_LENGTH - PG_START_ZONE_LENGTH + BOT_LENGTH / 2 + 50),
+ PG_A_DEG (0), 0);
return ai_next (INIT_GO_AWAY_FROM_THE_WALL_AGAIN, bot_move_succeed);
}