X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_corn.h;h=ac806d3575858482fca68de4938535b0333883d2;hp=8ab239811903370610a36428a9713b573cd4b2ba;hb=d776dc0dab6dd3ddf92041f1ad42e521847ea9cf;hpb=b022f257a5ee568737e1a684a83d0154397fffcb

diff --git a/projects/microb2010/mainboard/strat_corn.h b/projects/microb2010/mainboard/strat_corn.h
index 8ab2398..ac806d3 100644
--- a/projects/microb2010/mainboard/strat_corn.h
+++ b/projects/microb2010/mainboard/strat_corn.h
@@ -20,17 +20,21 @@
  *  Olivier MATZ <zer0@droids-corp.org>
  */
 
-#define CORN_NB 18
+#define LINE_UP     0
+#define LINE_DOWN   1
+#define LINE_R_UP   2
+#define LINE_L_DOWN 3
+#define LINE_L_UP   4
+#define LINE_R_DOWN 5
 
-/* enum is better */
-#define TYPE_WAYPOINT 0
-#define TYPE_DANGEROUS 1
-#define TYPE_WHITE_CORN 2
-#define TYPE_BLACK_CORN 3
-#define TYPE_OBSTACLE 4
+struct line_2pts {
+	point_t p1;
+	point_t p2;
+};
 
-extern uint8_t corn_table[CORN_NB];
+int8_t corn_is_near(uint8_t *corn_idx, uint8_t side);
 
-int8_t ijcoord_to_corn_idx(int8_t i, int8_t j);
-int8_t xycoord_to_corn_idx(int16_t *x, int16_t *y);
-void init_corn_table(int8_t conf_side, int8_t conf_center);
+void num2line(struct line_2pts *l, uint8_t dir, uint8_t num);
+
+uint8_t line2line(uint8_t dir1, uint8_t num1,
+		  uint8_t dir2, uint8_t num2);