X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_utils.c;h=9deba04c3619f9bb2baab1a335b3282d21f3e215;hb=9aa3fc56bec05ac20424c58ea58faf4a8fb414f0;hp=1f19904a6f3322d41735c74c25722b9ac1cdbb51;hpb=51418f44261edc59d818ca990456726027e366ad;p=aversive.git

diff --git a/projects/microb2010/mainboard/strat_utils.c b/projects/microb2010/mainboard/strat_utils.c
index 1f19904..9deba04 100644
--- a/projects/microb2010/mainboard/strat_utils.c
+++ b/projects/microb2010/mainboard/strat_utils.c
@@ -68,6 +68,17 @@ int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2)
 	return sqrt(x+y);
 }
 
+/* return the distance between two points */
+int32_t quad_distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2)
+{
+	int32_t x,y;
+	x = (x2-x1);
+	x = x*x;
+	y = (y2-y1);
+	y = y*y;
+	return x+y;
+}
+
 /* return the distance to a point in the area */
 int16_t distance_from_robot(int16_t x, int16_t y)
 {
@@ -263,34 +274,31 @@ uint8_t get_opponent_color(void)
 		return I2C_COLOR_YELLOW;
 }
 
-/* get the da pos of the opponent robot */
-int8_t get_opponent_da(int16_t *d, int16_t *a)
+/* get the xy pos of the opponent robot */
+int8_t get_opponent_xy(int16_t *x, int16_t *y)
 {
 	uint8_t flags;
-	int16_t x;
-
 	IRQ_LOCK(flags);
-	*d = beaconboard.oppd;
-	*a = beaconboard.oppa;
-	x = beaconboard.oppx;
+	*x = ballboard.opponent_x;
+	*y = ballboard.opponent_y;
 	IRQ_UNLOCK(flags);
-	if (x == I2C_OPPONENT_NOT_THERE)
+	if (*x == I2C_OPPONENT_NOT_THERE)
 		return -1;
 	return 0;
 }
 
-/* get the xy pos of the opponent robot */
-int8_t get_opponent_xy(int16_t *x, int16_t *y)
+/* get the da pos of the opponent robot */
+int8_t get_opponent_da(int16_t *d, int16_t *a)
 {
 	uint8_t flags;
-
+	int16_t x_tmp;
 	IRQ_LOCK(flags);
-	*x = beaconboard.oppx;
-	*y = beaconboard.oppy;
+	x_tmp = ballboard.opponent_x;
+	*d = ballboard.opponent_d;
+	*a = ballboard.opponent_a;
 	IRQ_UNLOCK(flags);
-	if (*x == I2C_OPPONENT_NOT_THERE)
+	if (x_tmp == I2C_OPPONENT_NOT_THERE)
 		return -1;
-
 	return 0;
 }
 
@@ -298,16 +306,14 @@ int8_t get_opponent_xy(int16_t *x, int16_t *y)
 int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a)
 {
 	uint8_t flags;
-
 	IRQ_LOCK(flags);
-	*x = beaconboard.oppx;
-	*y = beaconboard.oppy;
-	*d = beaconboard.oppd;
-	*a = beaconboard.oppa;
+	*x = ballboard.opponent_x;
+	*y = ballboard.opponent_y;
+	*d = ballboard.opponent_d;
+	*a = ballboard.opponent_a;
 	IRQ_UNLOCK(flags);
 	if (*x == I2C_OPPONENT_NOT_THERE)
 		return -1;
-
 	return 0;
 }