summaryrefslogtreecommitdiff
path: root/digital/io/src/ai_move_cb.c
diff options
context:
space:
mode:
authorNicolas Schodet2010-04-23 00:33:53 +0200
committerNicolas Schodet2010-04-23 00:33:53 +0200
commit98a10d5c181d40f8ea3d600d712ed249417a963e (patch)
treea066093939980912ffefb94fba1f8712376fbcf1 /digital/io/src/ai_move_cb.c
parentf664a063297ce25d51e69332f864ed3e288fb116 (diff)
digital/avr/modules/path: use vect_t in interface
Diffstat (limited to 'digital/io/src/ai_move_cb.c')
-rw-r--r--digital/io/src/ai_move_cb.c9
1 files changed, 4 insertions, 5 deletions
diff --git a/digital/io/src/ai_move_cb.c b/digital/io/src/ai_move_cb.c
index bca348f6..faabadb2 100644
--- a/digital/io/src/ai_move_cb.c
+++ b/digital/io/src/ai_move_cb.c
@@ -60,18 +60,17 @@ move_get_next_position (void)
position_t current_pos;
asserv_get_position (&current_pos);
/* Give the current position of the bot to the path module */
- path_endpoints (current_pos.v.x, current_pos.v.y,
- move_data.final.v.x, move_data.final.v.y);
+ path_endpoints (current_pos.v, move_data.final.v);
/* Update the path module */
path_update ();
- found = path_get_next (&dst.x, &dst.y);
+ found = path_get_next (&dst);
/* If not found, try to escape. */
if (!found)
{
slow = 1;
path_escape (8);
path_update ();
- found = path_get_next (&dst.x, &dst.y);
+ found = path_get_next (&dst);
}
/* If the path is found, move. */
if (found)
@@ -175,7 +174,7 @@ ai__MOVE_MOVING__bot_move_failed (void)
: -(BOT_SIZE_BACK + MOVE_REAL_OBSTACLE_RADIUS);
vect_from_polar_uf016 (&obstacle_pos, dist, robot_pos.a);
vect_translate (&obstacle_pos, &robot_pos.v);
- path_obstacle (0, obstacle_pos.x, obstacle_pos.y, MOVE_OBSTACLE_RADIUS, 0,
+ path_obstacle (0, obstacle_pos, MOVE_OBSTACLE_RADIUS, 0,
MOVE_OBSTACLE_VALIDITY);
/* Move backward to turn freely. */
asserv_move_linearly (asserv_get_last_moving_direction () == 1 ?