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/common-cc/asserv.cc | 20 ++++++++------------ 1 file changed, 8 insertions(+), 12 deletions(-) (limited to 'digital/io-hub/src/common-cc/asserv.cc') diff --git a/digital/io-hub/src/common-cc/asserv.cc b/digital/io-hub/src/common-cc/asserv.cc index 505c2a6a..acffda99 100644 --- a/digital/io-hub/src/common-cc/asserv.cc +++ b/digital/io-hub/src/common-cc/asserv.cc @@ -29,10 +29,12 @@ Asserv::Asserv (I2cQueue &queue, float scale) : I2cQueue::Slave (queue, 0x04, 10 + aux_nb * 2), status_flag_ (0), input_port_ (0), - position_x_ (0), position_y_ (0), position_a_ (0), last_moving_direction_ (DIRECTION_NONE), scale_ (scale), scale_inv_ (1 / scale) { + position_.v.x = 0; + position_.v.y = 0; + position_.a = 0; } void @@ -40,22 +42,16 @@ Asserv::recv_status (const uint8_t *status) { status_flag_ = status[0]; input_port_ = status[1]; - position_x_ = ucoo::bytes_pack (0, status[2], status[3], status[4]); - position_y_ = ucoo::bytes_pack (0, status[5], status[6], status[7]); - position_a_ = ucoo::bytes_pack (status[8], status[9]); + position_.v.x = ucoo::bytes_pack (0, status[2], status[3], status[4]) + * scale_; + position_.v.y = ucoo::bytes_pack (0, status[5], status[6], status[7]) + * scale_; + position_.a = ucoo::bytes_pack (status[8], status[9]); Direction d = get_moving_direction (); if (d != DIRECTION_NONE) last_moving_direction_ = d; } -void -Asserv::get_position (Position &position) const -{ - position.v.x = position_x_ * scale_; - position.v.y = position_y_ * scale_; - position.a = position_a_; -} - void Asserv::free () { -- cgit v1.2.3