add support for beacon

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

diff --git a/projects/microb2010/mainboard/strat_utils.h b/projects/microb2010/mainboard/strat_utils.h
index 85997c2..49b58b0 100644 (file)
--- a/projects/microb2010/mainboard/strat_utils.h
+++ b/projects/microb2010/mainboard/strat_utils.h
@@ -20,10 +20,6 @@
  */
 
 
-#define DEG(x) (((double)(x)) * (180.0 / M_PI))
-#define RAD(x) (((double)(x)) * (M_PI / 180.0))
-#define M_2PI (2*M_PI)
-
 struct xy_point {
        int16_t x;
        int16_t y;
@@ -35,7 +31,7 @@ struct xy_point {
        ({                                                              \
                uint8_t __err = 0;                                      \
                while ( (! (cond)) && (__err == 0)) {                   \
-                       __err = test_traj_end(TRAJ_FLAGS_NO_NEAR);      \
+                       __err = test_traj_end(mask);                    \
                }                                                       \
                __err;                                                  \
        })                                                              \
@@ -61,4 +57,7 @@ uint8_t get_opponent_color(void);
 int8_t get_opponent_xy(int16_t *x, int16_t *y);
 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 opponent_is_behind(void);
+int16_t distance_from_opponent(int16_t x, int16_t y);
+
+uint8_t get_ball_count(void);
+uint8_t get_cob_count(void);