From 74e1ec414baeb80a37be3bc922a958aad60bb8e9 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Sun, 20 Apr 2008 16:04:44 +0200 Subject: * digital/io/src - use parameters to call the get samples FSM start function rather than a structure. --- digital/io/src/getsamples_cb.c | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) (limited to 'digital/io/src/getsamples_cb.c') diff --git a/digital/io/src/getsamples_cb.c b/digital/io/src/getsamples_cb.c index 8f7abefb..e60bf2f8 100644 --- a/digital/io/src/getsamples_cb.c +++ b/digital/io/src/getsamples_cb.c @@ -34,9 +34,14 @@ #include "playground.h" /* PG_* */ /** - * Get samples shared data. + * The approach angle to face the distributor. */ -extern struct getsamples_data_t getsamples_data_; +extern int16_t approach_angle_; + +/** + * The samples bit field to collect. + */ +extern uint8_t sample_bitfield_; /* * FACE_DISTRIBUTOR =bot_move_succeed=> @@ -89,7 +94,7 @@ fsm_branch_t getsamples__TAKE_SAMPLES__arm_pass_noted_position (void) { /* More samples? */ - if (getsamples_data_.sample_bitfield) + if (sample_bitfield_) { /* Compute notifier */ uint16_t arm_current_position = asserv_get_arm_position (); @@ -120,7 +125,7 @@ fsm_branch_t getsamples__IDLE__start (void) { /* Face the distributor */ - asserv_goto_angle (getsamples_data_.approach_angle); + asserv_goto_angle (approach_angle_); return getsamples_next (IDLE, start); } -- cgit v1.2.3