X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_corn.h;h=def2237c6880274eb83339d4ba87fc2a68d6c27b;hp=8ab239811903370610a36428a9713b573cd4b2ba;hb=78150017ab8c5615af414df706a0525fe7c262ae;hpb=b022f257a5ee568737e1a684a83d0154397fffcb

diff --git a/projects/microb2010/mainboard/strat_corn.h b/projects/microb2010/mainboard/strat_corn.h
index 8ab2398..def2237 100644
--- a/projects/microb2010/mainboard/strat_corn.h
+++ b/projects/microb2010/mainboard/strat_corn.h
@@ -29,8 +29,24 @@
 #define TYPE_BLACK_CORN 3
 #define TYPE_OBSTACLE 4
 
+#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
+
+struct line_2pts {
+	point_t p1;
+	point_t p2;
+};
+
 extern uint8_t corn_table[CORN_NB];
 
-int8_t ijcoord_to_corn_idx(int8_t i, int8_t j);
+int8_t ijcoord_to_corn_idx(uint8_t i, uint8_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);
+
+uint8_t line2line(uint8_t dir1, uint8_t num1,
+		  uint8_t dir2, uint8_t num2);
+void num2line(struct line_2pts *l, uint8_t dir, uint8_t num);