[Krobot-commits] [SCM] krobot branch, master, updated. a35b4e1cdf9f415501fa0ae4e44d2718ee5fb94c

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit a35b4e1cdf9f415501fa0ae4e44d2718ee5fb94c
Author: Jérémie Dimino <je...@di...>
Date:   Mon Apr 25 21:20:04 2011 +0200

    [krobot_message] remove manual handling of the sign of theta in bezier messages

commit 2ce237ac7b8e79e18262493ea91dfee1d91247b5
Author: Jérémie Dimino <je...@di...>
Date:   Mon Apr 25 21:00:37 2011 +0200

    [info] change bezier messages

-----------------------------------------------------------------------

Changes:
diff --git a/info/control2011/src/lib/krobot_geom.ml b/info/control2011/src/lib/krobot_geom.ml
index 1c84bf3..7ca6909 100644
--- a/info/control2011/src/lib/krobot_geom.ml
+++ b/info/control2011/src/lib/krobot_geom.ml
@@ -54,6 +54,9 @@ let div v s = {
   vy = v.vy /. s;
 }
 
+let prod a b =
+  a.vx *. b.vx +. a.vy *. b.vy
+
 let ( +| ) = add
 let ( -| ) = sub
 let ( ~| ) = minus
@@ -167,12 +170,14 @@ module Bezier = struct
     in
     match vertices with
       | q :: r :: s :: _ ->
+          let initial = if prod initial (vector q r) < 0. then minus initial else initial in
           let v1 = initial
           and v2, _ = tangents q r s in
           let v1 = v1 *| (distance q r /. 2.)
           and v2 = v2 *| (distance q r /. 2.) in
           loop (add_vertices q r v1 v2 acc) vertices
       | [q; r] ->
+          let initial = if prod initial (vector q r) < 0. then minus initial else initial in
           let v1 = initial
           and v2 = vector r q /| distance q r  in
           let v1 = v1 *| (distance q r /. 2.)
diff --git a/info/control2011/src/lib/krobot_geom.mli b/info/control2011/src/lib/krobot_geom.mli
index 59bee62..abebd94 100644
--- a/info/control2011/src/lib/krobot_geom.mli
+++ b/info/control2011/src/lib/krobot_geom.mli
@@ -28,6 +28,7 @@ val sub : vector -> vector -> vector
 val minus : vector -> vector
 val mul : vector -> float -> vector
 val div : vector -> float -> vector
+val prod : vector -> vector -> float
 
 val ( +| ) : vector -> vector -> vector
 val ( -| ) : vector -> vector -> vector
diff --git a/info/control2011/src/lib/krobot_message.ml b/info/control2011/src/lib/krobot_message.ml
index 82df8a3..3a77845 100644
--- a/info/control2011/src/lib/krobot_message.ml
+++ b/info/control2011/src/lib/krobot_message.ml
@@ -233,7 +233,7 @@ let encode = function
       and y = int_of_float (y *. 1000.)
       and d1 = int_of_float (d1 *. 100.)
       and d2 = int_of_float (d2 *. 100.)
-      and theta = int_of_float (theta *. 1000.) land 0b1111111111111;
+      and theta = int_of_float (theta *. 100.)
       and v = int_of_float (v *. 1000.) in
       frame
         ~identifier:206
@@ -411,10 +411,7 @@ let decode frame =
                          float y /. 1000.,
                          float d1 /. 100.,
                          float d2 /. 100.,
-                         (if theta >= 4096 then
-                            float (theta - 8192) /. 1000.
-                          else
-                            float theta /. 1000.),
+                         float theta /. 100.,
                          float v /. 1000.)
         | 301 ->
             Beacon_position
diff --git a/info/control2011/src/lib/krobot_message_stubs.c b/info/control2011/src/lib/krobot_message_stubs.c
index e34c242..ecb5de5 100644
--- a/info/control2011/src/lib/krobot_message_stubs.c
+++ b/info/control2011/src/lib/krobot_message_stubs.c
@@ -14,9 +14,9 @@
 struct bezier_message {
   unsigned int x : 12;
   unsigned int y : 12;
-  unsigned int d1 : 8;
+  int d1 : 9;
   unsigned int d2 : 8;
-  int theta : 13;
+  int theta : 12;
   unsigned int v : 11;
 };
 


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