From a7005814750c04d6e14186760e17effa1fde6898 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 13 Apr 2010 00:22:05 +0200 Subject: digital/io/src: use position_t in radar interface --- digital/io/src/main.c | 3 +-- digital/io/src/radar.c | 10 +++++----- digital/io/src/radar.h | 4 ++-- 3 files changed, 8 insertions(+), 9 deletions(-) (limited to 'digital/io') diff --git a/digital/io/src/main.c b/digital/io/src/main.c index c013c055..b8db479d 100644 --- a/digital/io/src/main.c +++ b/digital/io/src/main.c @@ -252,8 +252,7 @@ main_loop (void) { position_t robot_pos; asserv_get_position (&robot_pos); - main_obstacles_nb = radar_update (robot_pos.v, robot_pos.a, - main_obstacles_pos); + main_obstacles_nb = radar_update (&robot_pos, main_obstacles_pos); simu_send_pos_report (main_obstacles_pos, main_obstacles_nb, 0); } diff --git a/digital/io/src/radar.c b/digital/io/src/radar.c index 7c9557c4..93aaa047 100644 --- a/digital/io/src/radar.c +++ b/digital/io/src/radar.c @@ -75,7 +75,7 @@ radar_valid (vect_t p) } uint8_t -radar_update (vect_t robot_pos, uint16_t robot_a, vect_t *obs_pos) +radar_update (const position_t *robot_pos, vect_t *obs_pos) { uint8_t i, j; vect_t ray; @@ -92,14 +92,14 @@ radar_update (vect_t robot_pos, uint16_t robot_a, vect_t *obs_pos) if (dist_mm[i] != 0xffff) { hit[i] = radar_sensors[i].pos; - vect_rotate_uf016 (&hit[i], robot_a); - vect_translate (&hit[i], &robot_pos); + vect_rotate_uf016 (&hit[i], robot_pos->a); + vect_translate (&hit[i], &robot_pos->v); vect_from_polar_uf016 (&ray, dist_mm[i], - robot_a + radar_sensors[i].a); + robot_pos->a + radar_sensors[i].a); vect_translate (&hit[i], &ray); valid[i] = radar_valid (hit[i]); vect_from_polar_uf016 (&ray, RADAR_OBSTACLE_RADIUS_MM, - robot_a + radar_sensors[i].a); + robot_pos->a + radar_sensors[i].a); vect_translate (&hit[i], &ray); } else diff --git a/digital/io/src/radar.h b/digital/io/src/radar.h index a1c5fe54..d5fa8b78 100644 --- a/digital/io/src/radar.h +++ b/digital/io/src/radar.h @@ -24,7 +24,7 @@ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ -#include "modules/math/geometry/vect.h" +#include "defs.h" /** * Handle any distance sensors information to extract useful data. This @@ -42,6 +42,6 @@ /** Update radar view. Return the number of obstacles found. Obstacles * positions are returned in obs_pos. */ uint8_t -radar_update (vect_t robot_pos, uint16_t robot_a, vect_t *obs_pos); +radar_update (const position_t *robot_pos, vect_t *obs_pos); #endif /* radar_h */ -- cgit v1.2.3