#define TYPE_BLACK_CORN 3
#define TYPE_OBSTACLE 4
+#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
+
+struct line_2pts {
+ point_t p1;
+ point_t p2;
+};
+
extern uint8_t corn_table[CORN_NB];
-int8_t ijcoord_to_corn_idx(int8_t i, int8_t j);
+int8_t ijcoord_to_corn_idx(uint8_t i, uint8_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);
+void num2line(struct line_2pts *l, uint8_t dir, uint8_t num);