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authorNicolas Schodet2008-06-17 22:57:12 +0200
committerNicolas Schodet2008-06-17 22:57:12 +0200
commit19c0b55ba097db272d96d879e2895e2654a2c91c (patch)
treefb910d9562a0d518672f0504af27eeef21ab4cd4 /digital/io/src/path.c
parent43fed3a07ab4626a2961b850ffbb08734359e86e (diff)
* digital/io/src:
- added obstacles to path report.
Diffstat (limited to 'digital/io/src/path.c')
-rw-r--r--digital/io/src/path.c14
1 files changed, 1 insertions, 13 deletions
diff --git a/digital/io/src/path.c b/digital/io/src/path.c
index a41a2d4e..0cd8e331 100644
--- a/digital/io/src/path.c
+++ b/digital/io/src/path.c
@@ -29,7 +29,6 @@
#include "modules/math/fixed/fixed.h"
#include "modules/utils/utils.h"
-#include "modules/host/mex.h"
/** Number of possible obstacles. */
#define PATH_OBSTACLES_NB 2
@@ -56,17 +55,6 @@ struct path_point_t
uint8_t taken;
};
-/** Obstacle. */
-struct path_obstacle_t
-{
- /** Center. */
- int16_t x, y;
- /** Radius. */
- uint16_t r;
- /** Validity counter, when this is zero, the obstacle is ignored. */
- uint16_t valid;
-};
-
/** Path finding context. */
struct path_t
{
@@ -308,7 +296,7 @@ path_update (void)
points[len++] = path.points[i].x;
points[len++] = path.points[i].y;
}
- simu_send_path (len, points);
+ simu_send_path (points, len, path.obstacles, PATH_OBSTACLES_NB);
#endif
}