cob detection

[aversive.git] / projects / microb2010 / mainboard / strat_corn.h

diff --git a/projects/microb2010/mainboard/strat_corn.h b/projects/microb2010/mainboard/strat_corn.h
index 8ab2398..ca4a7d6 100644 (file)
--- a/projects/microb2010/mainboard/strat_corn.h
+++ b/projects/microb2010/mainboard/strat_corn.h
@@ -20,17 +20,19 @@
  *  Olivier MATZ <zer0@droids-corp.org>
  */
 
-#define CORN_NB 18
+#define LINE_UP     0
+#define LINE_DOWN   1
+#define LINE_R_UP   2
+#define LINE_L_DOWN 3
+#define LINE_L_UP   4
+#define LINE_R_DOWN 5
 
-/* enum is better */
-#define TYPE_WAYPOINT 0
-#define TYPE_DANGEROUS 1
-#define TYPE_WHITE_CORN 2
-#define TYPE_BLACK_CORN 3
-#define TYPE_OBSTACLE 4
+struct line_2pts {
+       point_t p1;
+       point_t p2;
+};
 
-extern uint8_t corn_table[CORN_NB];
+void num2line(struct line_2pts *l, uint8_t dir, uint8_t num);
 
-int8_t ijcoord_to_corn_idx(int8_t i, int8_t j);
-int8_t xycoord_to_corn_idx(int16_t *x, int16_t *y);
-void init_corn_table(int8_t conf_side, int8_t conf_center);
+uint8_t line2line(uint8_t dir1, uint8_t num1,
+                 uint8_t dir2, uint8_t num2);