}
/** 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);
- 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_s16.a = a;
+ pos->pos_s16.a = a_deg;
IRQ_UNLOCK(flags);
}