update and reliabilize strats

[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 1f19904..35803ac 100644 (file)
--- a/projects/microb2010/mainboard/strat_utils.c
+++ b/projects/microb2010/mainboard/strat_utils.c
@@ -68,6 +68,17 @@ int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2)
        return sqrt(x+y);
 }
 
+/* return the distance between two points */
+int32_t quad_distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2)
+{
+       int32_t x,y;
+       x = (x2-x1);
+       x = x*x;
+       y = (y2-y1);
+       y = y*y;
+       return x+y;
+}
+
 /* return the distance to a point in the area */
 int16_t distance_from_robot(int16_t x, int16_t y)
 {