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 d6af32e..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;
 }