2 * Copyright Droids, Microb Technology (2010)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
20 * Olivier MATZ <zer0@droids-corp.org>
26 #define TYPE_WAYPOINT 0
27 #define TYPE_DANGEROUS 1
28 #define TYPE_WHITE_CORN 2
29 #define TYPE_BLACK_CORN 3
30 #define TYPE_OBSTACLE 4
44 extern uint8_t corn_table[CORN_NB];
46 int8_t ijcoord_to_corn_idx(uint8_t i, uint8_t j);
47 int8_t xycoord_to_corn_idx(int16_t *x, int16_t *y);
48 void init_corn_table(int8_t conf_side, int8_t conf_center);
50 uint8_t line2line(uint8_t dir1, uint8_t num1,
51 uint8_t dir2, uint8_t num2);
52 void num2line(struct line_2pts *l, uint8_t dir, uint8_t num);