static int32_t l_enc, r_enc;
static int fdr, fdw;
+/*
+ * Debug with GDB:
+ *
+ * (gdb) handle SIGUSR1 pass
+ * Signal Stop Print Pass to program Description
+ * SIGUSR1 Yes Yes Yes User defined signal 1
+ * (gdb) handle SIGUSR2 pass
+ * Signal Stop Print Pass to program Description
+ * SIGUSR2 Yes Yes Yes User defined signal 2
+ * (gdb) handle SIGUSR1 noprint
+ * Signal Stop Print Pass to program Description
+ * SIGUSR1 No No Yes User defined signal 1
+ * (gdb) handle SIGUSR2 noprint
+ */
/* */
-#define FILTER 97
+#define FILTER 98
#define FILTER2 (100-FILTER)
#define SHIFT 4
{
char buf[BUFSIZ];
int len;
+ int16_t x, y, a;
+
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+ a = position_get_a_deg_s16(&mainboard.pos);
+/* y = COLOR_Y(y); */
+/* a = COLOR_A(a); */
len = snprintf(buf, sizeof(buf), "pos=%d,%d,%d\n",
- position_get_x_s16(&mainboard.pos),
- position_get_y_s16(&mainboard.pos),
- position_get_a_deg_s16(&mainboard.pos));
+ x, y, a);
hostsim_lock();
write(fdw, buf, len);
hostsim_unlock();