X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_avoid.h;h=f7297414d5f22e9e8ccbfc43702a0d7e6f5a7079;hp=d7ac4ac025f3b837b2e2d1155d6c92b6f6bb8ecf;hb=HEAD;hpb=876789a372da2e93a816428649e511c2ad9e40be

diff --git a/projects/microb2010/mainboard/strat_avoid.h b/projects/microb2010/mainboard/strat_avoid.h
index d7ac4ac..f729741 100644
--- a/projects/microb2010/mainboard/strat_avoid.h
+++ b/projects/microb2010/mainboard/strat_avoid.h
@@ -27,7 +27,7 @@
 struct wp_coord {
 	uint8_t i:4;
 	uint8_t j:3;
-	uint8_t end:1;
+	uint8_t reserved:1;
 };
 
 struct wp_line {
@@ -39,6 +39,9 @@ int8_t browse_circuits(uint8_t i, uint8_t j,
 		       const struct wp_coord **selected_circuit,
 		       int8_t *selected_face);
 
+/* try to unblock in any situation */
+uint8_t strat_unblock(void);
+
 /* harvest on the best circuit */
 uint8_t strat_harvest_circuit(void);
 
@@ -54,6 +57,9 @@ uint8_t corn_count_neigh(uint8_t i, uint8_t j);
 /* return true if a waypoint belongs to a line */
 uint8_t wp_belongs_to_line(uint8_t i, uint8_t j, uint8_t linenum, uint8_t dir);
 
-void test_strat_avoid(void);
+uint8_t is_60deg(uint8_t dir1, uint8_t dir2);
+uint8_t is_120deg(uint8_t dir1, uint8_t dir2);
+
+void strat_avoid_init(void);
 
 #endif