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-rw-r--r--digital/io/src/main.c13
1 files changed, 5 insertions, 8 deletions
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_;
}