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authorschodet2005-03-27 18:44:56 +0000
committerschodet2005-03-27 18:44:56 +0000
commita46c224de1a250472b476eac28f1854a689d8b11 (patch)
tree8c9b9aae537bed533d6b8fabe402d10a3d0e0cf5 /n/asserv/src/speed.c
parent14217b088f68687076529d78bacb7feebab43a66 (diff)
Renomage de fonctions DSP.
Nouveaux modes de déplacement. Grands travaux sur le protocol.
Diffstat (limited to 'n/asserv/src/speed.c')
-rw-r--r--n/asserv/src/speed.c4
1 files changed, 2 insertions, 2 deletions
diff --git a/n/asserv/src/speed.c b/n/asserv/src/speed.c
index 3b9a709..38842a1 100644
--- a/n/asserv/src/speed.c
+++ b/n/asserv/src/speed.c
@@ -177,9 +177,9 @@ speed_distance (int32_t dist, int32_t arc)
if (vas) arc = -arc;
/* Compute speed.
* v = sqrt (2 * a * d), a = 1/speed_acc */
- vl248 = dsp_sqrt (dist * 2 / speed_acc);
+ vl248 = dsp_sqrt_f248 (dist * 2 / speed_acc);
vl = (vl248 >> 8) & 0xff;
- va248 = dsp_sqrt (arc * 2 / speed_acc);
+ va248 = dsp_sqrt_f248 (arc * 2 / speed_acc);
va = (va248 >> 8) & 0xff;
/* Saturate. */
if (vl248 & 0xffff0000 || vl > speed_max)