lots of work in opponent avoidance and strats

[aversive.git] / projects / microb2010 / mainboard / strat_db.c

diff --git a/projects/microb2010/mainboard/strat_db.c b/projects/microb2010/mainboard/strat_db.c
index d2835fe..9fe4329 100644 (file)
--- a/projects/microb2010/mainboard/strat_db.c
+++ b/projects/microb2010/mainboard/strat_db.c
@@ -149,7 +149,10 @@ int8_t ijcoord_to_xycoord(uint8_t i, uint8_t j, int16_t *x, int16_t *y)
        if (i >= WAYPOINTS_NBX && j >= WAYPOINTS_NBY)
                return -1;
        *x = (OFFSET_CORN_X + i*STEP_CORN_X);
-       *y = COLOR_Y(OFFSET_CORN_Y + j*STEP_CORN_Y);
+       if (i&1)
+               *y = COLOR_Y(OFFSET_CORN_Y + j*STEP_CORN_Y + STEP_CORN_Y/2);
+       else
+               *y = COLOR_Y(OFFSET_CORN_Y + j*STEP_CORN_Y);
        return 0;
 }
 
@@ -173,10 +176,14 @@ int8_t xycoord_to_ijcoord(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
        if ((i & 1) == 1) {
                j = y / STEP_CORN_Y;
        }
+       else if ((i & 3) == 0) {
+               j = y / (STEP_CORN_Y*2);
+               j = j*2 + 1;
+       }
        else {
-               y += (STEP_CORN_Y/2);
-               y /= (STEP_CORN_Y*2);
-               j = (y * 2) + 1;
+               y += (STEP_CORN_Y);
+               j = y / (STEP_CORN_Y*2);
+               j = j*2;
        }
 
        if (ijcoord_to_xycoord(i, j, &x, &y) < 0)
@@ -194,7 +201,6 @@ int8_t xycoord_to_ijcoord(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
        return 0;
 }
 
-
 /******** CORN */
 
 /* return the index of a corn given its i,j coords. */
@@ -492,7 +498,6 @@ void strat_db_init(void)
                        /* tomato */
                        idx = ijcoord_to_tomato_idx(i, j);
                        if (idx >= 0) {
-                               printf("%d %d\n", i, j);
                                wp->type = WP_TYPE_TOMATO;
                                wp->present = 1;
                                wp->tomato.idx = idx;