X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_utils.c;h=9deba04c3619f9bb2baab1a335b3282d21f3e215;hp=35803ac9783cfcaa474c1e7fb049c94d97f31f73;hb=ad466314d3aff8f661654d4701b9d12fdeb7811f;hpb=b699727efceb661be65fbd22e975565b800c628e

diff --git a/projects/microb2010/mainboard/strat_utils.c b/projects/microb2010/mainboard/strat_utils.c
index 35803ac..9deba04 100644
--- a/projects/microb2010/mainboard/strat_utils.c
+++ b/projects/microb2010/mainboard/strat_utils.c
@@ -274,34 +274,31 @@ uint8_t get_opponent_color(void)
 		return I2C_COLOR_YELLOW;
 }
 
-/* get the da pos of the opponent robot */
-int8_t get_opponent_da(int16_t *d, int16_t *a)
+/* get the xy pos of the opponent robot */
+int8_t get_opponent_xy(int16_t *x, int16_t *y)
 {
 	uint8_t flags;
-	int16_t x;
-
 	IRQ_LOCK(flags);
-	*d = beaconboard.oppd;
-	*a = beaconboard.oppa;
-	x = beaconboard.oppx;
+	*x = ballboard.opponent_x;
+	*y = ballboard.opponent_y;
 	IRQ_UNLOCK(flags);
-	if (x == I2C_OPPONENT_NOT_THERE)
+	if (*x == I2C_OPPONENT_NOT_THERE)
 		return -1;
 	return 0;
 }
 
-/* get the xy pos of the opponent robot */
-int8_t get_opponent_xy(int16_t *x, int16_t *y)
+/* get the da pos of the opponent robot */
+int8_t get_opponent_da(int16_t *d, int16_t *a)
 {
 	uint8_t flags;
-
+	int16_t x_tmp;
 	IRQ_LOCK(flags);
-	*x = beaconboard.oppx;
-	*y = beaconboard.oppy;
+	x_tmp = ballboard.opponent_x;
+	*d = ballboard.opponent_d;
+	*a = ballboard.opponent_a;
 	IRQ_UNLOCK(flags);
-	if (*x == I2C_OPPONENT_NOT_THERE)
+	if (x_tmp == I2C_OPPONENT_NOT_THERE)
 		return -1;
-
 	return 0;
 }
 
@@ -309,16 +306,14 @@ int8_t get_opponent_xy(int16_t *x, int16_t *y)
 int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a)
 {
 	uint8_t flags;
-
 	IRQ_LOCK(flags);
-	*x = beaconboard.oppx;
-	*y = beaconboard.oppy;
-	*d = beaconboard.oppd;
-	*a = beaconboard.oppa;
+	*x = ballboard.opponent_x;
+	*y = ballboard.opponent_y;
+	*d = ballboard.opponent_d;
+	*a = ballboard.opponent_a;
 	IRQ_UNLOCK(flags);
 	if (*x == I2C_OPPONENT_NOT_THERE)
 		return -1;
-
 	return 0;
 }