X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_utils.h;h=f314b0eec4798c7eb19ec5f169786f9763193281;hp=85997c2c0a8373ff02438cafcf7d7df06cda7baf;hb=b699727efceb661be65fbd22e975565b800c628e;hpb=1714f4ee916fca95ce24120ea6e698237913f947

diff --git a/projects/microb2010/mainboard/strat_utils.h b/projects/microb2010/mainboard/strat_utils.h
index 85997c2..f314b0e 100644
--- a/projects/microb2010/mainboard/strat_utils.h
+++ b/projects/microb2010/mainboard/strat_utils.h
@@ -20,10 +20,6 @@
  */
 
 
-#define DEG(x) (((double)(x)) * (180.0 / M_PI))
-#define RAD(x) (((double)(x)) * (M_PI / 180.0))
-#define M_2PI (2*M_PI)
-
 struct xy_point {
 	int16_t x;
 	int16_t y;
@@ -35,12 +31,19 @@ struct xy_point {
 	({								\
 		uint8_t __err = 0;					\
 		while ( (! (cond)) && (__err == 0)) {			\
-			__err = test_traj_end(TRAJ_FLAGS_NO_NEAR);	\
+			__err = test_traj_end(mask);			\
 		}							\
+		if (!__err)						\
+			DEBUG(E_USER_STRAT, "cond is true at line %d",	\
+			      __LINE__);				\
+		else							\
+			DEBUG(E_USER_STRAT, "got %s at line %d",	\
+			      get_err(__err), __LINE__);		\
 		__err;							\
 	})								\
 
 int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
+int32_t quad_distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
 int16_t distance_from_robot(int16_t x, int16_t y);
 int16_t simple_modulo_360(int16_t a);
 int16_t angle_abs_to_rel(int16_t a_abs);
@@ -61,4 +64,7 @@ uint8_t get_opponent_color(void);
 int8_t get_opponent_xy(int16_t *x, int16_t *y);
 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 opponent_is_behind(void);
+int16_t distance_from_opponent(int16_t x, int16_t y);
+
+uint8_t get_ball_count(void);
+uint8_t get_cob_count(void);