// normalizes ball position and returns normalized ball speed
void normalizeBallParams(int x_pos, int y_pos, uint sim_time) {
// position normalization
pos_.x = A_X*x_pos + B_X;
pos_.y = A_Y*y_pos + B_Y;
// normalizing pos
float n_pos = v_norm(pos_);
if(n_pos > 1.0) {
pos_.x /= n_pos;
pos_.y /= n_pos;
}
compute_speed(sim_time);
average_params();
}
void sensor_int4(int irq, FAR void *context)
{
compute_speed(3);
return;
}
