new base mech plate

[aversive.git] / projects / microb2010 / mainboard / robotsim.c

diff --git a/projects/microb2010/mainboard/robotsim.c b/projects/microb2010/mainboard/robotsim.c
index 2d0d7be..7c52835 100644 (file)
--- a/projects/microb2010/mainboard/robotsim.c
+++ b/projects/microb2010/mainboard/robotsim.c
@@ -111,16 +111,25 @@ robotsim_i2c_ballboard_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
 }
 
 int8_t
-robotsim_i2c_cobboard_set_mode(uint8_t mode)
+robotsim_i2c_cobboard_set_spickles(uint8_t side, uint8_t flags)
 {
        char buf[BUFSIZ];
        int len;
 
-       if (cobboard.mode == mode)
-               return 0;
+       if (side == I2C_LEFT_SIDE) {
+               if (cobboard.lspickle == flags)
+                       return 0;
+               else
+                       cobboard.lspickle = flags;
+       }
+       if (side == I2C_RIGHT_SIDE) {
+               if (cobboard.rspickle == flags)
+                       return 0;
+               else
+                       cobboard.rspickle = flags;
+       }
 
-       cobboard.mode = mode;
-       len = snprintf(buf, sizeof(buf), "cobboard=%d\n", mode);
+       len = snprintf(buf, sizeof(buf), "cobboard=%d,%d\n", side, flags);
        hostsim_lock();
        write(fdw, buf, len);
        hostsim_unlock();
@@ -218,8 +227,8 @@ void robotsim_update(void)
                ((local_r_pwm * 1000 * FILTER2)/1000);
 
        /* basic collision detection */
-       a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
-       d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
+       a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_FRONT);
+       d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_FRONT);
 
        xfl = x + cos(a+a2) * d;
        yfl = y + sin(a+a2) * d;