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Diffstat (limited to 'digital/io/src/radar.c')
-rw-r--r--digital/io/src/radar.c5
1 files changed, 2 insertions, 3 deletions
diff --git a/digital/io/src/radar.c b/digital/io/src/radar.c
index ca815006..6188ff37 100644
--- a/digital/io/src/radar.c
+++ b/digital/io/src/radar.c
@@ -162,8 +162,7 @@ radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos,
+ RADAR_OBSTACLE_RADIUS_MM;
else
length = BOT_SIZE_FRONT + RADAR_STOP_MM + RADAR_OBSTACLE_RADIUS_MM;
- /* To save divisions, multiply limits by vd (and vdn) length. */
- vect_t vdn = vd; vect_normal (&vdn);
+ /* To save divisions, multiply limits by vd length. */
int32_t limit = (uint32_t) d * length;
int32_t limitn = (uint32_t) d * (BOT_SIZE_SIDE + RADAR_CLEARANCE_MM
+ RADAR_OBSTACLE_RADIUS_MM);
@@ -176,7 +175,7 @@ radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos,
int32_t dp = vect_dot_product (&vd, &vo);
if (dp < 0 || dp > limit)
continue;
- int32_t dpn = vect_dot_product (&vdn, &vo);
+ int32_t dpn = vect_normal_dot_product (&vd, &vo);
if (dpn < -limitn || dpn > limitn)
continue;
/* Else, obstacle is blocking. */