- if (lcob == I2C_COB_WHITE)
- DEBUG(E_USER_STRAT, "lcob white");
- if (lcob == I2C_COB_BLACK)
- DEBUG(E_USER_STRAT, "lcob black");
- if (rcob == I2C_COB_WHITE)
- DEBUG(E_USER_STRAT, "rcob white");
- if (rcob == I2C_COB_BLACK)
- DEBUG(E_USER_STRAT, "rcob black");
+ /* XXX take opponent position into account */
+
+
+ /* detect cob on left side */
+ if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
+ if (lcob != I2C_COB_NONE) {
+ corn_set_color(strat_db.corn_table[lidx], lcob);
+ DEBUG(E_USER_STRAT, "lcob %s %d",
+ lcob == I2C_COB_WHITE ? "white" : "black", lidx);
+ }
+ if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
+ i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
+ else
+ i2c_cobboard_deploy(I2C_LEFT_SIDE);
+ }
+ else {
+ i2c_cobboard_deploy(I2C_LEFT_SIDE);
+ }
+
+ /* detect cob on right side */
+ if (corn_is_near(&ridx, I2C_RIGHT_SIDE)) {
+ if (rcob != I2C_COB_NONE) {
+ corn_set_color(strat_db.corn_table[ridx], rcob);
+ DEBUG(E_USER_STRAT, "rcob %s %d",
+ rcob == I2C_COB_WHITE ? "white" : "black", ridx);
+ }
+ if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
+ i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
+ else
+ i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+ }
+ else {
+ i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+ }
+