strat db + avoid

[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 b1bf942..708f08a 100644 (file)
--- a/projects/microb2010/mainboard/strat_utils.c
+++ b/projects/microb2010/mainboard/strat_utils.c
@@ -37,6 +37,7 @@
 #include <quadramp.h>
 #include <control_system_manager.h>
 #include <trajectory_manager.h>
+#include <trajectory_manager_utils.h>
 #include <vect_base.h>
 #include <lines.h>
 #include <polygon.h>
@@ -171,13 +172,13 @@ uint8_t robot_is_in_area(int16_t margin)
 }
 
 /* return 1 or 0 depending on which side of a line (y=cste) is the
- * robot. works in red or green color. */
+ * robot. works in yellow or blue color. */
 uint8_t y_is_more_than(int16_t y)
 {
        int16_t posy;
        
        posy = position_get_y_s16(&mainboard.pos);
-       if (mainboard.our_color == I2C_COLOR_RED) {
+       if (mainboard.our_color == I2C_COLOR_YELLOW) {
                if (posy > y)
                        return 1;
                else
@@ -192,7 +193,7 @@ uint8_t y_is_more_than(int16_t y)
 }
 
 /* return 1 or 0 depending on which side of a line (x=cste) is the
- * robot. works in red or green color. */
+ * robot. works in yellow or blue color. */
 uint8_t x_is_more_than(int16_t x)
 {
        int16_t posx;
@@ -256,10 +257,10 @@ uint8_t get_color(void)
 /* get the color of the opponent robot */
 uint8_t get_opponent_color(void)
 {
-       if (mainboard.our_color == I2C_COLOR_RED)
-               return I2C_COLOR_GREEN;
+       if (mainboard.our_color == I2C_COLOR_YELLOW)
+               return I2C_COLOR_BLUE;
        else
-               return I2C_COLOR_RED;
+               return I2C_COLOR_YELLOW;
 }
 
 /* get the xy pos of the opponent robot */