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avant la coupe de belgique
[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
..
def2237
100644
(file)
--- a/
projects/microb2010/mainboard/strat_corn.h
+++ b/
projects/microb2010/mainboard/strat_corn.h
@@
-29,8
+29,24
@@
#define TYPE_BLACK_CORN 3
#define TYPE_OBSTACLE 4
#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];
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, u
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);
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);