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beacon, prepare integration
[aversive.git]
/
modules
/
devices
/
robot
/
position_manager
/
position_manager.c
diff --git
a/modules/devices/robot/position_manager/position_manager.c
b/modules/devices/robot/position_manager/position_manager.c
index
60ed260
..
a1573a5
100644
(file)
--- a/
modules/devices/robot/position_manager/position_manager.c
+++ b/
modules/devices/robot/position_manager/position_manager.c
@@
-35,16
+35,16
@@
void position_init(struct robot_position *pos)
}
/** Set a new robot position */
}
/** Set a new robot position */
-void position_set(struct robot_position *pos, int16_t x, int16_t y,
int16_t a
)
+void position_set(struct robot_position *pos, int16_t x, int16_t y,
double a_deg
)
{
uint8_t flags;
IRQ_LOCK(flags);
{
uint8_t flags;
IRQ_LOCK(flags);
- pos->pos_d.a = (
(double)a
* M_PI)/ 180.0;
+ pos->pos_d.a = (
a_deg
* M_PI)/ 180.0;
pos->pos_d.x = x;
pos->pos_d.y = y;
pos->pos_s16.x = x;
pos->pos_s16.y = y;
pos->pos_d.x = x;
pos->pos_d.y = y;
pos->pos_s16.x = x;
pos->pos_s16.y = y;
- pos->pos_s16.a = a;
+ pos->pos_s16.a = a
_deg
;
IRQ_UNLOCK(flags);
}
IRQ_UNLOCK(flags);
}