add climb fct

[aversive.git] / projects / microb2010 / tests / test_board2008 / strat_utils.c

diff --git a/projects/microb2010/tests/test_board2008/strat_utils.c b/projects/microb2010/tests/test_board2008/strat_utils.c
index edd795a..4f510f2 100644 (file)
--- a/projects/microb2010/tests/test_board2008/strat_utils.c
+++ b/projects/microb2010/tests/test_board2008/strat_utils.c
@@ -29,7 +29,7 @@
 
 #include <uart.h>
 #include <pwm_ng.h>
-#include <time.h>
+#include <clock_time.h>
 
 #include <pid.h>
 #include <quadramp.h>
@@ -77,17 +77,17 @@ int16_t simple_modulo_360(int16_t a)
        return a;
 }
 
-/** do a modulo 2.pi -> [-Pi,+Pi], knowing that 'a' is in [-3Pi,+3Pi] */  
-double simple_modulo_2pi(double a)
-{
-       if (a < -M_PI) {
-               a += M_2PI;
-       }
-       else if (a > M_PI) {
-               a -= M_2PI;
-       }
-       return a;
-}
+/* /\** do a modulo 2.pi -> [-Pi,+Pi], knowing that 'a' is in [-3Pi,+3Pi] *\/   */
+/* double simple_modulo_2pi(double a) */
+/* { */
+/*     if (a < -M_PI) { */
+/*             a += M_2PI; */
+/*     } */
+/*     else if (a > M_PI) { */
+/*             a -= M_2PI; */
+/*     } */
+/*     return a; */
+/* } */
 
 /* return the distance to a point in the area */
 int16_t angle_abs_to_rel(int16_t a_abs)
@@ -182,13 +182,13 @@ uint8_t robot_is_in_area(int16_t margin)
 /* } */
 
 /* /\* return 1 or 0 depending on which side of a line (y=cste) is the */
-/*  * robot. works in red or green color. *\/ */
+/*  * robot. works in yellow or blue color. *\/ */
 /* uint8_t y_is_more_than(int16_t y) */
 /* { */
 /*     int16_t posy; */
        
 /*     posy = position_get_y_s16(&mainboard.pos); */
-/*     if (mainboard.our_color == I2C_COLOR_RED) { */
+/*     if (mainboard.our_color == I2C_COLOR_YELLOW) { */
 /*             if (posy > y) */
 /*                     return 1; */
 /*             else */
@@ -203,7 +203,7 @@ uint8_t robot_is_in_area(int16_t margin)
 /* } */
 
 /* return 1 or 0 depending on which side of a line (x=cste) is the
- * robot. works in red or green color. */
+ * robot. works in yellow or blue color. */
 uint8_t x_is_more_than(int16_t x)
 {
        int16_t posx;
@@ -267,10 +267,10 @@ uint8_t get_color(void)
 /* /\* get the color of the opponent robot *\/ */
 /* uint8_t get_opponent_color(void) */
 /* { */
-/*     if (mainboard.our_color == I2C_COLOR_RED) */
-/*             return I2C_COLOR_GREEN; */
+/*     if (mainboard.our_color == I2C_COLOR_YELLOW) */
+/*             return I2C_COLOR_BLUE; */
 /*     else */
-/*             return I2C_COLOR_RED; */
+/*             return I2C_COLOR_YELLOW; */
 /* } */
 
 /* /\* get the xy pos of the opponent robot *\/ */