beacon, prepare integration

[aversive.git] / modules / devices / robot / position_manager / position_manager.c

diff --git a/modules/devices/robot/position_manager/position_manager.c b/modules/devices/robot/position_manager/position_manager.c
index 60ed260..a1573a5 100644 (file)
--- a/modules/devices/robot/position_manager/position_manager.c
+++ b/modules/devices/robot/position_manager/position_manager.c
@@ -35,16 +35,16 @@ void position_init(struct robot_position *pos)
 }
 
 /** 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);
 }