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linear interpolation, prepare multi TSOP
[aversive.git]
/
projects
/
microb2010
/
tests
/
beacon_tsop
/
commands.c
diff --git
a/projects/microb2010/tests/beacon_tsop/commands.c
b/projects/microb2010/tests/beacon_tsop/commands.c
index
8a98f49
..
253c886
100644
(file)
--- a/
projects/microb2010/tests/beacon_tsop/commands.c
+++ b/
projects/microb2010/tests/beacon_tsop/commands.c
@@
-32,7
+32,11
@@
#include <parse.h>
#include <rdline.h>
#include <parse_string.h>
#include <parse.h>
#include <rdline.h>
#include <parse_string.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <circles.h>
+#include "trigo.h"
#include "main.h"
/**********************************************************/
#include "main.h"
/**********************************************************/
@@
-158,7
+162,24
@@
struct cmd_test_result {
static void cmd_test_parsed(__attribute__((unused)) void *parsed_result,
__attribute__((unused)) void *data)
{
static void cmd_test_parsed(__attribute__((unused)) void *parsed_result,
__attribute__((unused)) void *data)
{
+ point_t pos;
+ double a01 = 1.65;
+ double a12 = 2.12;
+ double a20 = 2.53;
+ uint16_t time1, time2;
+ cli();
+ time1 = TCNT3;
+ sei();
+
+ if (angles_to_posxy(&pos, a01, a12, a20) < 0)
+ printf_P(PSTR("error\n"));
+
+ cli();
+ time2 = TCNT3;
+ sei();
+
+ printf_P(PSTR("%2.2f %2.2f (t=%d)\n"), pos.x, pos.y, time2-time1);
}
prog_char str_test_arg0[] = "test";
}
prog_char str_test_arg0[] = "test";