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update and reliabilize strats
[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
49b58b0
..
f314b0e
100644
(file)
--- a/
projects/microb2010/mainboard/strat_utils.h
+++ b/
projects/microb2010/mainboard/strat_utils.h
@@
-33,10
+33,17
@@
struct xy_point {
while ( (! (cond)) && (__err == 0)) { \
__err = test_traj_end(mask); \
} \
while ( (! (cond)) && (__err == 0)) { \
__err = test_traj_end(mask); \
} \
+ if (!__err) \
+ DEBUG(E_USER_STRAT, "cond is true at line %d", \
+ __LINE__); \
+ else \
+ DEBUG(E_USER_STRAT, "got %s at line %d", \
+ get_err(__err), __LINE__); \
__err; \
}) \
int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
__err; \
}) \
int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
+int32_t quad_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);
int16_t angle_abs_to_rel(int16_t a_abs);
int16_t distance_from_robot(int16_t x, int16_t y);
int16_t simple_modulo_360(int16_t a);
int16_t angle_abs_to_rel(int16_t a_abs);