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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
f21dd57
..
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);
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;
}
return 0;
}
@@
-495,7
+498,6
@@
void strat_db_init(void)
/* tomato */
idx = ijcoord_to_tomato_idx(i, j);
if (idx >= 0) {
/* 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;
wp->type = WP_TYPE_TOMATO;
wp->present = 1;
wp->tomato.idx = idx;