X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_avoid.h;h=f7297414d5f22e9e8ccbfc43702a0d7e6f5a7079;hb=c20f7eb8460dd04e42f95d799f17d9b60b5ee8e4;hp=4afe0320bff98737701a549473590cd2e4f8e12d;hpb=17aadc4c8c3e60c2b5e6bbba91c8542849addbd7;p=aversive.git

diff --git a/projects/microb2010/mainboard/strat_avoid.h b/projects/microb2010/mainboard/strat_avoid.h
index 4afe032..f729741 100644
--- a/projects/microb2010/mainboard/strat_avoid.h
+++ b/projects/microb2010/mainboard/strat_avoid.h
@@ -27,7 +27,7 @@
 struct wp_coord {
 	uint8_t i:4;
 	uint8_t j:3;
-	uint8_t end:1;
+	uint8_t reserved:1;
 };
 
 struct wp_line {
@@ -39,9 +39,27 @@ int8_t browse_circuits(uint8_t i, uint8_t j,
 		       const struct wp_coord **selected_circuit,
 		       int8_t *selected_face);
 
+/* try to unblock in any situation */
+uint8_t strat_unblock(void);
+
 /* harvest on the best circuit */
 uint8_t strat_harvest_circuit(void);
 
-void test_strat_avoid(void);
+/* get the neighbour of the point at specified dir, return -1 if
+ * there is no neighbor */
+int8_t wp_get_neigh(uint8_t i, uint8_t j, uint8_t *ni, uint8_t *nj,
+		 uint8_t dir);
+
+/* count the number of non-black corns which are neighbors of
+ * specified cob */
+uint8_t corn_count_neigh(uint8_t i, uint8_t j);
+
+/* return true if a waypoint belongs to a line */
+uint8_t wp_belongs_to_line(uint8_t i, uint8_t j, uint8_t linenum, uint8_t dir);
+
+uint8_t is_60deg(uint8_t dir1, uint8_t dir2);
+uint8_t is_120deg(uint8_t dir1, uint8_t dir2);
+
+void strat_avoid_init(void);
 
 #endif