cob detection

[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 986b601..d6bea8f 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;
@@ -43,7 +39,6 @@ struct xy_point {
 int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
 int16_t distance_from_robot(int16_t x, int16_t y);
 int16_t simple_modulo_360(int16_t a);
-double simple_modulo_2pi(double a);
 int16_t angle_abs_to_rel(int16_t a_abs);
 void rel_da_to_abs_xy(double d_rel, double a_rel_rad, double *x_abs, double *y_abs);
 double norm(double x, double y);
@@ -62,15 +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 get_column_count(void);
-uint8_t get_column_count_right(void);
-uint8_t get_column_count_left(void);
-uint8_t get_lintel_count(void);
-uint8_t get_mechboard_mode(void);
-uint8_t pump_left1_is_full(void);
-uint8_t pump_left2_is_full(void);
-uint8_t pump_right1_is_full(void);
-uint8_t pump_right2_is_full(void);
-uint8_t get_scanner_status(void);
-uint8_t wait_scan_done(uint16_t timeout);
 uint8_t opponent_is_behind(void);
+
+uint8_t get_ball_count(void);
+uint8_t get_cob_count(void);