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-rw-r--r--digital/ai/src/twi_master/beacon.c13
-rw-r--r--digital/beacon/src/stub/simu_stub.host.c8
2 files changed, 12 insertions, 9 deletions
diff --git a/digital/ai/src/twi_master/beacon.c b/digital/ai/src/twi_master/beacon.c
index caed4dd8..88c618c3 100644
--- a/digital/ai/src/twi_master/beacon.c
+++ b/digital/ai/src/twi_master/beacon.c
@@ -85,12 +85,13 @@ beacon_send_position (vect_t *position)
{
uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_BEACON);
buffer[0] = beacon.on;
- buffer[1] = beacon.robot_nb;
- buffer[2] = v16_to_v8 (position->x, 1);
- buffer[3] = v16_to_v8 (position->x, 0);
- buffer[4] = v16_to_v8 (position->y, 1);
- buffer[5] = v16_to_v8 (position->y, 0);
- twi_master_send_transient_buffer (6);
+ buffer[1] = team_color;
+ buffer[2] = beacon.robot_nb;
+ buffer[3] = v16_to_v8 (position->x, 1);
+ buffer[4] = v16_to_v8 (position->x, 0);
+ buffer[5] = v16_to_v8 (position->y, 1);
+ buffer[6] = v16_to_v8 (position->y, 0);
+ twi_master_send_transient_buffer (7);
}
uint8_t
diff --git a/digital/beacon/src/stub/simu_stub.host.c b/digital/beacon/src/stub/simu_stub.host.c
index 2073e678..38cf93fb 100644
--- a/digital/beacon/src/stub/simu_stub.host.c
+++ b/digital/beacon/src/stub/simu_stub.host.c
@@ -44,6 +44,7 @@ struct position_t simu_positions[2];
uint8_t simu_seq;
uint8_t simu_recv_jack;
+uint8_t simu_recv_team_color;
uint8_t simu_recv_robot_nb;
struct position_t simu_recv_robot_position;
@@ -64,9 +65,10 @@ simu_twi_proto_poll (void)
continue;
simu_seq = recv_buf[1];
simu_recv_jack = recv_buf[2];
- simu_recv_robot_nb = recv_buf[3];
- simu_recv_robot_position.x = v8_to_v16 (recv_buf[4], recv_buf[5]);
- simu_recv_robot_position.y = v8_to_v16 (recv_buf[6], recv_buf[7]);
+ simu_recv_team_color = recv_buf[3];
+ simu_recv_robot_nb = recv_buf[4];
+ simu_recv_robot_position.x = v8_to_v16 (recv_buf[5], recv_buf[6]);
+ simu_recv_robot_position.y = v8_to_v16 (recv_buf[7], recv_buf[8]);
}
}