wait obstacle -- c nul en fait

[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 0153794..dfc5693 100644 (file)
--- a/projects/microb2010/mainboard/strat_db.c
+++ b/projects/microb2010/mainboard/strat_db.c
@@ -160,10 +160,42 @@ int8_t ijcoord_to_xycoord(uint8_t i, uint8_t j, int16_t *x, int16_t *y)
        return 0;
 }
 
+/* return the nearest waypoint (any type) */
+int8_t xycoord_to_ijcoord(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
+{
+       int16_t x, y;
+       uint8_t i, j;
+
+       x = *xp;
+       y = *yp;
+
+       x -= OFFSET_CORN_X;
+       x += (STEP_CORN_X/2);
+       i = x / STEP_CORN_X;
+
+       y = COLOR_Y(y); /* Y depends on color */
+       y -= OFFSET_CORN_Y;
+       y += STEP_CORN_Y/2;
+
+       if ((i & 1) == 1)
+               y -= STEP_CORN_Y/2;
+       j = y / STEP_CORN_Y;
+
+       if (ijcoord_to_xycoord(i, j, &x, &y) < 0)
+               return -1;
+
+       *xp = x;
+       *yp = y;
+       *ip = i;
+       *jp = j;
+
+       return 0;
+}
+
 /* return the nearest waypoint that is not a corn: xp and yp contains
  * the input and output, and ip, jp are only outputs. return 0 on
  * success. */
-int8_t xycoord_to_ijcoord(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
+int8_t xycoord_to_ijcoord_not_corn(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
 {
        int16_t x, y;
        uint8_t i, j;