}
int8_t
-robotsim_i2c_cobboard_set_mode(uint8_t mode)
+robotsim_i2c_cobboard_set_spickles(uint8_t side, uint8_t flags)
{
char buf[BUFSIZ];
int len;
- if (cobboard.mode == mode)
- return 0;
+ if (side == I2C_LEFT_SIDE) {
+ if (cobboard.lspickle == flags)
+ return 0;
+ else
+ cobboard.lspickle = flags;
+ }
+ if (side == I2C_RIGHT_SIDE) {
+ if (cobboard.rspickle == flags)
+ return 0;
+ else
+ cobboard.rspickle = flags;
+ }
- cobboard.mode = mode;
- len = snprintf(buf, sizeof(buf), "cobboard=%d\n", mode);
+ len = snprintf(buf, sizeof(buf), "cobboard=%d,%d\n", side, flags);
hostsim_lock();
write(fdw, buf, len);
hostsim_unlock();
((local_r_pwm * 1000 * FILTER2)/1000);
/* basic collision detection */
- a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
- d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
+ a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_FRONT);
+ d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_FRONT);
xfl = x + cos(a+a2) * d;
yfl = y + sin(a+a2) * d;