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This commit is contained in:
Johannes Reinhardt 2008-07-12 11:02:17 +02:00
parent 70ee5f69a6
commit e25bcd734f
2 changed files with 1 additions and 3 deletions
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1
src/control.h
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@ -194,7 +194,6 @@ INLINE timestamp getcurts(trial *t) {
struct timeval tv;
gettimeofday(&tv, NULL);
timestamp ts = (tv.tv_sec - t->started.tv_sec) * 1000 + (tv.tv_usec - t->started.tv_usec) / 1000;
printf("Timestamp: %u\n", ts);
return ts;
}

3
src/path.c
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@ -26,7 +26,7 @@ path *path_new(map* m,vehicle *v){
/* Calculate a trivial path to the origin*/
/* Turn towards origin, take shorter direction*/
angle = atan(v->y/v->x)*180/M_PI;
angle = atan2(v->y,v->x)*180/M_PI;
stop = abs(angle - v->dir)/m->max_turn*1000;
printf("Angle: %f stop: %f\n",angle,stop);
if(angle - v->dir > 0){
@ -60,7 +60,6 @@ void path_execute(trial* t,path* p){
}
now = getcurts(t);
fprintf(stderr,"Now: %d TS: %d\n",now,clock());
/*magic number for latency, send messages that much earlier*/
while(tmp != NULL && now - 20 > tmp->ts){
tmp = (command*) g_queue_pop_head(p->commands);