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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>
*/
* 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);