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);
}