go fast between corn cobs

[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..f21dd57 100644 (file)
--- a/projects/microb2010/mainboard/strat_db.c
+++ b/projects/microb2010/mainboard/strat_db.c
@@ -173,10 +173,14 @@ 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 +198,6 @@ 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. */