From 19c0b55ba097db272d96d879e2895e2654a2c91c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 17 Jun 2008 22:57:12 +0200 Subject: * digital/io/src: - added obstacles to path report. --- digital/io/src/path.c | 14 +------------- 1 file changed, 1 insertion(+), 13 deletions(-) (limited to 'digital/io/src/path.c') diff --git a/digital/io/src/path.c b/digital/io/src/path.c index a41a2d4e..0cd8e331 100644 --- a/digital/io/src/path.c +++ b/digital/io/src/path.c @@ -29,7 +29,6 @@ #include "modules/math/fixed/fixed.h" #include "modules/utils/utils.h" -#include "modules/host/mex.h" /** Number of possible obstacles. */ #define PATH_OBSTACLES_NB 2 @@ -56,17 +55,6 @@ struct path_point_t uint8_t taken; }; -/** Obstacle. */ -struct path_obstacle_t -{ - /** Center. */ - int16_t x, y; - /** Radius. */ - uint16_t r; - /** Validity counter, when this is zero, the obstacle is ignored. */ - uint16_t valid; -}; - /** Path finding context. */ struct path_t { @@ -308,7 +296,7 @@ path_update (void) points[len++] = path.points[i].x; points[len++] = path.points[i].y; } - simu_send_path (len, points); + simu_send_path (points, len, path.obstacles, PATH_OBSTACLES_NB); #endif } -- cgit v1.2.3