add support for beacon

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

diff --git a/projects/microb2010/mainboard/strat_utils.c b/projects/microb2010/mainboard/strat_utils.c
index 33c1474..1f19904 100644 (file)
--- a/projects/microb2010/mainboard/strat_utils.c
+++ b/projects/microb2010/mainboard/strat_utils.c
@@ -263,33 +263,34 @@ uint8_t get_opponent_color(void)
                return I2C_COLOR_YELLOW;
 }
 
-/* get the xy pos of the opponent robot */
-int8_t get_opponent_xy(int16_t *x, int16_t *y)
+/* get the da pos of the opponent robot */
+int8_t get_opponent_da(int16_t *d, int16_t *a)
 {
        uint8_t flags;
-       return -1; // XXX
+       int16_t x;
+
        IRQ_LOCK(flags);
-/*     *x = ballboard.opponent_x; */
-/*     *y = ballboard.opponent_y; */
+       *d = beaconboard.oppd;
+       *a = beaconboard.oppa;
+       x = beaconboard.oppx;
        IRQ_UNLOCK(flags);
-       if (*x == I2C_OPPONENT_NOT_THERE)
+       if (x == I2C_OPPONENT_NOT_THERE)
                return -1;
        return 0;
 }
 
-/* get the da pos of the opponent robot */
-int8_t get_opponent_da(int16_t *d, int16_t *a)
+/* get the xy pos of the opponent robot */
+int8_t get_opponent_xy(int16_t *x, int16_t *y)
 {
        uint8_t flags;
-       int16_t x_tmp;
-       return -1; // XXX
+
        IRQ_LOCK(flags);
-/*     x_tmp = ballboard.opponent_x; */
-/*     *d = ballboard.opponent_d; */
-/*     *a = ballboard.opponent_a; */
+       *x = beaconboard.oppx;
+       *y = beaconboard.oppy;
        IRQ_UNLOCK(flags);
-       if (x_tmp == I2C_OPPONENT_NOT_THERE)
+       if (*x == I2C_OPPONENT_NOT_THERE)
                return -1;
+
        return 0;
 }
 
@@ -297,25 +298,16 @@ int8_t get_opponent_da(int16_t *d, int16_t *a)
 int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a)
 {
        uint8_t flags;
-       return -1; // XXX
+
        IRQ_LOCK(flags);
-/*     *x = ballboard.opponent_x; */
-/*     *y = ballboard.opponent_y; */
-/*     *d = ballboard.opponent_d; */
-/*     *a = ballboard.opponent_a; */
+       *x = beaconboard.oppx;
+       *y = beaconboard.oppy;
+       *d = beaconboard.oppd;
+       *a = beaconboard.oppa;
        IRQ_UNLOCK(flags);
        if (*x == I2C_OPPONENT_NOT_THERE)
                return -1;
-       return 0;
-}
-uint8_t opponent_is_behind(void)
-{
-/*     int8_t opp_there; */
-/*     int16_t opp_d, opp_a; */
 
-/*     opp_there = get_opponent_da(&opp_d, &opp_a); */
-/*     if (opp_there && (opp_a < 215 && opp_a > 145) && opp_d < 600) */
-/*             return 1; */
        return 0;
 }