X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_utils.c;h=9deba04c3619f9bb2baab1a335b3282d21f3e215;hp=41def2cead75f9bd303a71fb68ec87cad5b6e0d3;hb=ad466314d3aff8f661654d4701b9d12fdeb7811f;hpb=b28db6087ed5fdab0bda8f23417ef7098d2a9ae5

diff --git a/projects/microb2010/mainboard/strat_utils.c b/projects/microb2010/mainboard/strat_utils.c
index 41def2c..9deba04 100644
--- a/projects/microb2010/mainboard/strat_utils.c
+++ b/projects/microb2010/mainboard/strat_utils.c
@@ -68,6 +68,17 @@ int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2)
 	return sqrt(x+y);
 }
 
+/* return the distance between two points */
+int32_t quad_distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2)
+{
+	int32_t x,y;
+	x = (x2-x1);
+	x = x*x;
+	y = (y2-y1);
+	y = y*y;
+	return x+y;
+}
+
 /* return the distance to a point in the area */
 int16_t distance_from_robot(int16_t x, int16_t y)
 {
@@ -267,10 +278,9 @@ uint8_t get_opponent_color(void)
 int8_t get_opponent_xy(int16_t *x, int16_t *y)
 {
 	uint8_t flags;
-	return -1; // XXX
 	IRQ_LOCK(flags);
-/* 	*x = ballboard.opponent_x; */
-/* 	*y = ballboard.opponent_y; */
+	*x = ballboard.opponent_x;
+	*y = ballboard.opponent_y;
 	IRQ_UNLOCK(flags);
 	if (*x == I2C_OPPONENT_NOT_THERE)
 		return -1;
@@ -282,11 +292,10 @@ int8_t get_opponent_da(int16_t *d, int16_t *a)
 {
 	uint8_t flags;
 	int16_t x_tmp;
-	return -1; // XXX
 	IRQ_LOCK(flags);
-/* 	x_tmp = ballboard.opponent_x; */
-/* 	*d = ballboard.opponent_d; */
-/* 	*a = ballboard.opponent_a; */
+	x_tmp = ballboard.opponent_x;
+	*d = ballboard.opponent_d;
+	*a = ballboard.opponent_a;
 	IRQ_UNLOCK(flags);
 	if (x_tmp == I2C_OPPONENT_NOT_THERE)
 		return -1;
@@ -297,26 +306,23 @@ int8_t get_opponent_da(int16_t *d, int16_t *a)
 int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a)
 {
 	uint8_t flags;
-	return -1; // XXX
 	IRQ_LOCK(flags);
-/* 	*x = ballboard.opponent_x; */
-/* 	*y = ballboard.opponent_y; */
-/* 	*d = ballboard.opponent_d; */
-/* 	*a = ballboard.opponent_a; */
+	*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;
 }
-uint8_t opponent_is_behind(void)
-{
-/* 	int8_t opp_there; */
-/* 	int16_t opp_d, opp_a; */
 
-/* 	opp_there = get_opponent_da(&opp_d, &opp_a); */
-/* 	if (opp_there && (opp_a < 215 && opp_a > 145) && opp_d < 600) */
-/* 		return 1; */
-	return 0;
+int16_t distance_from_opponent(int16_t x, int16_t y)
+{
+	int16_t oppx, oppy;
+	if (get_opponent_xy(&oppx, &oppy) < 0)
+		return -1;
+	return distance_between(x, y, oppx, oppy);
 }
 
 uint8_t get_ball_count(void)