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irrational unblocking, low speed obstacle bug and spicke pack when y too big
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
i2c_protocol.c
diff --git
a/projects/microb2010/mainboard/i2c_protocol.c
b/projects/microb2010/mainboard/i2c_protocol.c
index
2c27410
..
49b707b
100644
(file)
--- 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;
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);
}
return i2c_send(I2C_BALLBOARD_ADDR, (uint8_t*)&buf,
sizeof(buf), I2C_CTRL_GENERIC);
}