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fixed point in robot system 2
author
zer0
<zer0@carbon.local>
Sat, 19 Dec 2009 18:25:44 +0000
(19:25 +0100)
committer
zer0
<zer0@carbon.local>
Sat, 19 Dec 2009 18:25:44 +0000
(19:25 +0100)
modules/devices/robot/robot_system/robot_system.h
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diff --git
a/modules/devices/robot/robot_system/robot_system.h
b/modules/devices/robot/robot_system/robot_system.h
index
8f72dc5
..
ff868d3
100755
(executable)
--- a/
modules/devices/robot/robot_system/robot_system.h
+++ b/
modules/devices/robot/robot_system/robot_system.h
@@
-69,11
+69,19
@@
struct robot_system
/* External encoders */
int32_t (*left_ext_encoder)(void *);
void* left_ext_encoder_param;
/* External encoders */
int32_t (*left_ext_encoder)(void *);
void* left_ext_encoder_param;
+#ifdef CONFIG_MODULE_ROBOT_SYSTEM_USE_F64
f64 left_ext_gain;
f64 left_ext_gain;
+#else
+ double left_ext_gain;
+#endif
int32_t (*right_ext_encoder)(void *);
void* right_ext_encoder_param;
int32_t (*right_ext_encoder)(void *);
void* right_ext_encoder_param;
+#ifdef CONFIG_MODULE_ROBOT_SYSTEM_USE_F64
f64 right_ext_gain;
f64 right_ext_gain;
+#else
+ double right_ext_gain;
+#endif
/* PWM */
void (*left_pwm)(void *, int32_t);
/* PWM */
void (*left_pwm)(void *, int32_t);