X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_utils.c;h=708f08a27310fd9c18ff01b4436fdd8e0110417a;hp=b1bf942e4c3738a72e46baf88b7020b084c72d15;hb=4e7801883ed4076cb14b63a0571467747894c0f8;hpb=1714f4ee916fca95ce24120ea6e698237913f947

diff --git a/projects/microb2010/mainboard/strat_utils.c b/projects/microb2010/mainboard/strat_utils.c
index b1bf942..708f08a 100644
--- a/projects/microb2010/mainboard/strat_utils.c
+++ b/projects/microb2010/mainboard/strat_utils.c
@@ -37,6 +37,7 @@
 #include <quadramp.h>
 #include <control_system_manager.h>
 #include <trajectory_manager.h>
+#include <trajectory_manager_utils.h>
 #include <vect_base.h>
 #include <lines.h>
 #include <polygon.h>
@@ -171,13 +172,13 @@ 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
@@ -192,7 +193,7 @@ uint8_t y_is_more_than(int16_t y)
 }
 
 /* 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;
@@ -256,10 +257,10 @@ 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 */