From d7211fc08b077030cf7f065d3834e201d17c18a5 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 13 Apr 2010 00:21:48 +0200 Subject: digital/io/src: refactor position and angle macros --- digital/io/src/ai_init_cb.c | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) (limited to 'digital/io/src/ai_init_cb.c') diff --git a/digital/io/src/ai_init_cb.c b/digital/io/src/ai_init_cb.c index a1d61967..1fb41b64 100644 --- a/digital/io/src/ai_init_cb.c +++ b/digital/io/src/ai_init_cb.c @@ -123,7 +123,7 @@ fsm_branch_t ai__INIT_SET_Y_POSITION__asserv_last_cmd_ack (void) { /* We are facing top border. */ - asserv_set_angle_position (90 * BOT_ANGLE_DEGREE); + asserv_set_angle_position (POSITION_A_DEG (90)); return ai_next (INIT_SET_Y_POSITION, asserv_last_cmd_ack); } @@ -149,7 +149,7 @@ fsm_branch_t ai__INIT_GO_AWAY_FROM_THE_WALL__bot_move_succeed (void) { /* Face the other wall. */ - asserv_goto_angle (PG_A_VALUE_COMPUTING (180 * BOT_ANGLE_DEGREE)); + asserv_goto_angle (PG_A_DEG (180)); return ai_next (INIT_GO_AWAY_FROM_THE_WALL, bot_move_succeed); } @@ -185,7 +185,7 @@ ai__INIT_WAIT_AFTER_ROTATION__state_timeout (void) fsm_branch_t ai__INIT_GO_TO_THE_WALL_AGAIN__bot_move_succeed (void) { - asserv_set_x_position (PG_X_VALUE_COMPUTING (BOT_LENGTH / 2)); + asserv_set_x_position (PG_X (BOT_LENGTH / 2)); return ai_next (INIT_GO_TO_THE_WALL_AGAIN, bot_move_succeed); } @@ -211,11 +211,9 @@ fsm_branch_t ai__INIT_GO_AWAY_FROM_THE_WALL_AGAIN__bot_move_succeed (void) { /* Move away from the border. */ - asserv_goto_xya (PG_X_VALUE_COMPUTING (PG_START_ZONE_WIDTH - - BOT_WIDTH / 2 - - 50), - PG_LENGTH - PG_START_ZONE_LENGTH + BOT_LENGTH / 2 + 50, - PG_A_VALUE_COMPUTING (0 * BOT_ANGLE_DEGREE), 0); + asserv_goto_xya (PG_X (PG_START_ZONE_WIDTH - BOT_WIDTH / 2 - 50), + PG_Y (PG_LENGTH - PG_START_ZONE_LENGTH + BOT_LENGTH / 2 + 50), + PG_A_DEG (0), 0); return ai_next (INIT_GO_AWAY_FROM_THE_WALL_AGAIN, bot_move_succeed); } -- cgit v1.2.3