From 98a10d5c181d40f8ea3d600d712ed249417a963e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 23 Apr 2010 00:33:53 +0200 Subject: digital/avr/modules/path: use vect_t in interface --- digital/io/src/ai_move_cb.c | 9 ++++----- digital/io/src/move.c | 4 ++-- digital/io/src/simu.host.c | 4 ++-- 3 files changed, 8 insertions(+), 9 deletions(-) (limited to 'digital/io') diff --git a/digital/io/src/ai_move_cb.c b/digital/io/src/ai_move_cb.c index bca348f6..faabadb2 100644 --- a/digital/io/src/ai_move_cb.c +++ b/digital/io/src/ai_move_cb.c @@ -60,18 +60,17 @@ move_get_next_position (void) position_t current_pos; asserv_get_position (¤t_pos); /* Give the current position of the bot to the path module */ - path_endpoints (current_pos.v.x, current_pos.v.y, - move_data.final.v.x, move_data.final.v.y); + path_endpoints (current_pos.v, move_data.final.v); /* Update the path module */ path_update (); - found = path_get_next (&dst.x, &dst.y); + found = path_get_next (&dst); /* If not found, try to escape. */ if (!found) { slow = 1; path_escape (8); path_update (); - found = path_get_next (&dst.x, &dst.y); + found = path_get_next (&dst); } /* If the path is found, move. */ if (found) @@ -175,7 +174,7 @@ ai__MOVE_MOVING__bot_move_failed (void) : -(BOT_SIZE_BACK + MOVE_REAL_OBSTACLE_RADIUS); vect_from_polar_uf016 (&obstacle_pos, dist, robot_pos.a); vect_translate (&obstacle_pos, &robot_pos.v); - path_obstacle (0, obstacle_pos.x, obstacle_pos.y, MOVE_OBSTACLE_RADIUS, 0, + path_obstacle (0, obstacle_pos, MOVE_OBSTACLE_RADIUS, 0, MOVE_OBSTACLE_VALIDITY); /* Move backward to turn freely. */ asserv_move_linearly (asserv_get_last_moving_direction () == 1 ? diff --git a/digital/io/src/move.c b/digital/io/src/move.c index 6eb9bfde..c0676c3d 100644 --- a/digital/io/src/move.c +++ b/digital/io/src/move.c @@ -54,8 +54,8 @@ move_obstacles_update (void) { uint8_t i; for (i = 0; i < main_obstacles_nb; i++) - path_obstacle (i, main_obstacles_pos[i].x, main_obstacles_pos[i].y, - MOVE_OBSTACLE_RADIUS, 0, MOVE_OBSTACLE_VALIDITY); + path_obstacle (i, main_obstacles_pos[i], MOVE_OBSTACLE_RADIUS, 0, + MOVE_OBSTACLE_VALIDITY); } void diff --git a/digital/io/src/simu.host.c b/digital/io/src/simu.host.c index c4f607d0..bc4c404f 100644 --- a/digital/io/src/simu.host.c +++ b/digital/io/src/simu.host.c @@ -236,14 +236,14 @@ eeprom_clear_param (void) /** Send computed path. */ void -simu_send_path (uint16_t *points, uint8_t len, +simu_send_path (vect_t *points, uint8_t len, struct path_obstacle_t *obstacles, uint8_t obstacles_nb) { int i; mex_msg_t *m; m = mex_msg_new (MSG_SIMU_IO_PATH); for (i = 0; i < len; i++) - mex_msg_push (m, "h", points[i]); + mex_msg_push (m, "hh", points[i].x, points[i].y); mex_node_send (m); } -- cgit v1.2.3