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authorschodet2005-04-17 02:53:57 +0000
committerschodet2005-04-17 02:53:57 +0000
commit0fcaebc243f457973fcb1a83fe8a00705be72f20 (patch)
treed67cb1830d90708534b72496319eb97d7fb46b6a /n/asserv/src/postrack.c
parent71564bd2908facb66710ab7454ad5b00025f21f6 (diff)
PINC -> PINA.
Move_angular ok. Sharps en twi.
Diffstat (limited to 'n/asserv/src/postrack.c')
-rw-r--r--n/asserv/src/postrack.c3
1 files changed, 3 insertions, 0 deletions
diff --git a/n/asserv/src/postrack.c b/n/asserv/src/postrack.c
index 3cca141..197cc67 100644
--- a/n/asserv/src/postrack.c
+++ b/n/asserv/src/postrack.c
@@ -29,6 +29,8 @@ int32_t postrack_x, postrack_y;
int32_t postrack_a;
/** Distance between the weels, u16. */
uint16_t postrack_footing;
+/** Precomputed footing * 2pi, f24.8. */
+uint32_t postrack_footing_2pi;
/** Precomputed footing factor, f8.24.
* postrack_footing_factor = (1/2pi * 256) / postrack_footing
* Explanations:
@@ -114,6 +116,7 @@ static inline void
postrack_set_footing (uint16_t footing)
{
postrack_footing = footing;
+ postrack_footing_2pi = (uint32_t) (M_PI * 2 * 255) * footing;
postrack_footing_factor =
(int32_t) (0.5 * M_1_PI * (1L << 8) * (1L << 24)) / footing;
}