X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fi2c_protocol.c;h=49b707bdca892570d373d85eddd7330f0717a815;hp=2c2741090a256ee2026300063d5d0db2b7fab8fa;hb=HEAD;hpb=ad466314d3aff8f661654d4701b9d12fdeb7811f

diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index 2c27410..49b707b 100644
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -379,6 +379,10 @@ static int8_t i2c_req_ballboard_status(void)
 	struct i2c_req_ballboard_status buf;
 
 	buf.hdr.cmd = I2C_REQ_BALLBOARD_STATUS;
+	/* robot position */
+	buf.x = position_get_x_s16(&mainboard.pos);
+	buf.y = position_get_y_s16(&mainboard.pos);
+	buf.a = position_get_a_deg_s16(&mainboard.pos);
 	return i2c_send(I2C_BALLBOARD_ADDR, (uint8_t*)&buf,
 			sizeof(buf), I2C_CTRL_GENERIC);
 }