From bbd0d642484b2865b8290e70e5b7c4ba45a41856 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 8 Apr 2013 22:14:52 +0200 Subject: digital/io-hub/src/apbirthday: change Asserv::get_position syntax --- digital/io-hub/src/apbirthday/robot.cc | 6 ++---- digital/io-hub/src/apbirthday/top.cc | 6 ++---- 2 files changed, 4 insertions(+), 8 deletions(-) (limited to 'digital/io-hub/src/apbirthday') diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc index d6f29964..cd782ffc 100644 --- a/digital/io-hub/src/apbirthday/robot.cc +++ b/digital/io-hub/src/apbirthday/robot.cc @@ -124,8 +124,7 @@ Robot::main_loop () // Handle communications. bool sync = main_i2c_queue_.sync (); zb_i2c_queue_.sync (); - Position robot_pos; - asserv.get_position (robot_pos); + Position robot_pos = asserv.get_position (); beacon.send_position (robot_pos.v); // Look for obstacles. if (usdist_control_.update ()) @@ -336,8 +335,7 @@ Robot::proto_stats () return; if (stats_asserv_ && !--stats_asserv_cpt_) { - Position pos; - asserv.get_position (pos); + Position pos = asserv.get_position (); stats_proto_->send ('A', "hhH", pos.v.x, pos.v.y, pos.a); stats_asserv_cpt_ = stats_asserv_; } diff --git a/digital/io-hub/src/apbirthday/top.cc b/digital/io-hub/src/apbirthday/top.cc index 46c55a29..0f3f60f5 100644 --- a/digital/io-hub/src/apbirthday/top.cc +++ b/digital/io-hub/src/apbirthday/top.cc @@ -64,8 +64,7 @@ top_cake_angle (const vect_t &pos) static uint16_t top_cake_angle_robot () { - Position pos; - robot->asserv.get_position (pos); + Position pos = robot->asserv.get_position (); return top_cake_angle (pos.v); } @@ -142,8 +141,7 @@ top_follow_or_leave () bool top_follow_blocking (int dir_sign) { - Position robot_pos; - robot->asserv.get_position (robot_pos); + Position robot_pos = robot->asserv.get_position (); uint16_t robot_angle = top_cake_angle (robot_pos.v); // Check for an obstacle on a small segment. vect_t dst; -- cgit v1.2.3