From fb5fc876169d9f9963e9d07d1b5d573a28320866 Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Thu, 28 Mar 2013 22:15:41 +0100 Subject: digital/beacon: add API to compute my robot position from xy --- digital/beacon/src/twi_specific.c | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) (limited to 'digital/beacon/src/twi_specific.c') diff --git a/digital/beacon/src/twi_specific.c b/digital/beacon/src/twi_specific.c index 9bd35f5e..7e349d16 100644 --- a/digital/beacon/src/twi_specific.c +++ b/digital/beacon/src/twi_specific.c @@ -34,6 +34,7 @@ static HAL_AppTimer_t twiTimer; +extern robot_s my_robot; /* This function manages the TWI RX/RX transferts */ void twi_task(void) @@ -76,8 +77,11 @@ void twi_task(void) jack_update_status(RXbuffer[TWI_RX_JACK_FIELD]); if(RXbuffer[TWI_RX_JACK_FIELD] == 1) { + /* Get color value from IA and save it*/ color_set_value(RXbuffer[TWI_RX_COLOR_FIELD]); - formula_update_apb_position((RXbuffer[TWI_RX_X_MSB_FIELD]<<8)+RXbuffer[TWI_RX_X_LSB_FIELD],(RXbuffer[TWI_RX_Y_MSB_FIELD]<<8)+RXbuffer[TWI_RX_Y_LSB_FIELD]); + + /* Update my robot structure with xy from IA */ + formula_update_robot_from_xy(&my_robot,(RXbuffer[TWI_RX_X_MSB_FIELD]<<8)+RXbuffer[TWI_RX_X_LSB_FIELD],(RXbuffer[TWI_RX_Y_MSB_FIELD]<<8)+RXbuffer[TWI_RX_Y_LSB_FIELD]); } } else @@ -87,6 +91,7 @@ void twi_task(void) } } + /* Initialisze specific TWI */ void twi_init_specific(void) { -- cgit v1.2.3