From a46c224de1a250472b476eac28f1854a689d8b11 Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 27 Mar 2005 18:44:56 +0000 Subject: Renomage de fonctions DSP. Nouveaux modes de déplacement. Grands travaux sur le protocol. --- n/asserv/src/speed.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'n/asserv/src/speed.c') 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) -- cgit v1.2.3