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Diffstat (limited to 'n/asserv/src/postrack.c')
-rw-r--r--n/asserv/src/postrack.c8
1 files changed, 4 insertions, 4 deletions
diff --git a/n/asserv/src/postrack.c b/n/asserv/src/postrack.c
index d7e6bc8..ae0d0c3 100644
--- a/n/asserv/src/postrack.c
+++ b/n/asserv/src/postrack.c
@@ -76,8 +76,8 @@ postrack_update (void)
if (counter_right_diff == counter_left_diff)
{
/* Line. */
- postrack_x += dsp_mul_f824 (d, dsp_cos (postrack_a)) >> 8;
- postrack_y += dsp_mul_f824 (d, dsp_sin (postrack_a)) >> 8;
+ postrack_x += dsp_mul_f824 (d, dsp_cos_f824 (postrack_a)) >> 8;
+ postrack_y += dsp_mul_f824 (d, dsp_sin_f824 (postrack_a)) >> 8;
}
else
{
@@ -90,11 +90,11 @@ postrack_update (void)
/* Compute da in radians. */
da = dsp_mul_f824 (da, 2 * M_PI * (1L << 24));
/* X increment. */
- dsc = dsp_sin (na) - dsp_sin (postrack_a); /* 8.24b */
+ dsc = dsp_sin_f824 (na) - dsp_sin_f824 (postrack_a); /* 8.24b */
dsc = dsp_div_f824 (dsc, da); /* 8.24b < 1 */
postrack_x += dsp_mul_f824 (d, dsc) >> 8; /* 24.8b */
/* Y increment. */
- dsc = dsp_cos (postrack_a) - dsp_cos (na); /* 8.24b */
+ dsc = dsp_cos_f824 (postrack_a) - dsp_cos_f824 (na); /* 8.24b */
dsc = dsp_div_f824 (dsc, da); /* 8.24b < 1 */
postrack_y += dsp_mul_f824 (d, dsc) >> 8; /* 24.8b */
/* Angle update. */