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 35803ac..9deba04 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;
 }
 
-/* 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;
-
        IRQ_LOCK(flags);
-       *d = beaconboard.oppd;
-       *a = beaconboard.oppa;
-       x = beaconboard.oppx;
+       *x = ballboard.opponent_x;
+       *y = ballboard.opponent_y;
        IRQ_UNLOCK(flags);
-       if (x == I2C_OPPONENT_NOT_THERE)
+       if (*x == I2C_OPPONENT_NOT_THERE)
                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;
-
+       int16_t x_tmp;
        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);
-       if (*x == I2C_OPPONENT_NOT_THERE)
+       if (x_tmp == I2C_OPPONENT_NOT_THERE)
                return -1;
-
        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;
-
        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;
-
        return 0;
 }