00001 /* 00002 * Copyright Droids Corporation, Microb Technology, Eirbot (2005) 00003 * 00004 * This program is free software; you can redistribute it and/or modify 00005 * it under the terms of the GNU General Public License as published by 00006 * the Free Software Foundation; either version 2 of the License, or 00007 * (at your option) any later version. 00008 * 00009 * This program is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 * GNU General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU General Public License 00015 * along with this program; if not, write to the Free Software 00016 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00017 * 00018 * Revision : $Id: angle_distance.c,v 1.7 2009-03-15 21:51:18 zer0 Exp $ 00019 * 00020 */ 00021 00022 #include "angle_distance.h" 00023 00028 void rs_get_polar_from_wheels(struct rs_polar *p_dst, struct rs_wheels *w_src) 00029 { 00030 p_dst->distance = (w_src->right + w_src->left) / 2; 00031 p_dst->angle = (w_src->right - w_src->left) / 2; 00032 } 00033 00037 void rs_get_wheels_from_polar(struct rs_wheels *w_dst, struct rs_polar *p_src) 00038 { 00039 w_dst->left = p_src->distance - p_src->angle; 00040 w_dst->right = p_src->distance + p_src->angle; 00041 } 00042
1.5.6