beacon from 2009

[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 35803ac9783cfcaa474c1e7fb049c94d97f31f73..9deba04c3619f9bb2baab1a335b3282d21f3e215 100644 (file)
--- a/projects/microb2010/mainboard/strat_utils.c
+++ b/projects/microb2010/mainboard/strat_utils.c
@@ -274,34 +274,31 @@ uint8_t get_opponent_color(void)
                return I2C_COLOR_YELLOW;
 }
 
                return I2C_COLOR_YELLOW;
 }
 

-/* 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;
 {
        uint8_t flags;

-       int16_t x;
-

        IRQ_LOCK(flags);
        IRQ_LOCK(flags);

-       *d = beaconboard.oppd;
-       *a = beaconboard.oppa;
-       x = beaconboard.oppx;
+       *x = ballboard.opponent_x;
+       *y = ballboard.opponent_y;

        IRQ_UNLOCK(flags);
        IRQ_UNLOCK(flags);

-       if (x == I2C_OPPONENT_NOT_THERE)
+       if (*x == I2C_OPPONENT_NOT_THERE)

                return -1;
        return 0;
 }
 
                return -1;
        return 0;
 }
 

-/* 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;
 {
        uint8_t flags;

-
+       int16_t x_tmp;

        IRQ_LOCK(flags);
        IRQ_LOCK(flags);

-       *x = beaconboard.oppx;
-       *y = beaconboard.oppy;
+       x_tmp = ballboard.opponent_x;
+       *d = ballboard.opponent_d;
+       *a = ballboard.opponent_a;

        IRQ_UNLOCK(flags);
        IRQ_UNLOCK(flags);

-       if (*x == I2C_OPPONENT_NOT_THERE)
+       if (x_tmp == I2C_OPPONENT_NOT_THERE)

                return -1;
                return -1;

-

        return 0;
 }
 
        return 0;
 }
 


@@ -309,16 +306,14 @@ int8_t get_opponent_xy(int16_t *x, int16_t *y)
 int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a)
 {
        uint8_t flags;
 int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a)
 {
        uint8_t flags;

-

        IRQ_LOCK(flags);
        IRQ_LOCK(flags);

-       *x = beaconboard.oppx;
-       *y = beaconboard.oppy;
-       *d = beaconboard.oppd;
-       *a = beaconboard.oppa;
+       *x = ballboard.opponent_x;
+       *y = ballboard.opponent_y;
+       *d = ballboard.opponent_d;
+       *a = ballboard.opponent_a;

        IRQ_UNLOCK(flags);
        if (*x == I2C_OPPONENT_NOT_THERE)
                return -1;
        IRQ_UNLOCK(flags);
        if (*x == I2C_OPPONENT_NOT_THERE)
                return -1;

-

        return 0;
 }
 
        return 0;
 }