From: zer0 <zer0@carbon.local>
Date: Sun, 20 Dec 2009 16:48:29 +0000 (+0100)
Subject: circles intersection and tourel beacon
X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=commitdiff_plain;h=80386d268a58da2be3eeca83f254c980a047b34f;ds=sidebyside

circles intersection and tourel beacon
---

diff --git a/modules/base/math/geometry/Makefile b/modules/base/math/geometry/Makefile
index aa808b6..b905c35 100644
--- a/modules/base/math/geometry/Makefile
+++ b/modules/base/math/geometry/Makefile
@@ -1,7 +1,7 @@
 TARGET = geometry
 
 # List C source files here. (C dependencies are automatically generated.)
-SRC = vect_base.c lines.c polygon.c
+SRC = vect_base.c lines.c polygon.c circles.c
 
 
 ###########################################
diff --git a/modules/base/math/geometry/circles.c b/modules/base/math/geometry/circles.c
new file mode 100644
index 0000000..09b9af6
--- /dev/null
+++ b/modules/base/math/geometry/circles.c
@@ -0,0 +1,112 @@
+/*
+ *  Copyright Droids Corporation (2009)
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
+#include <math.h>
+
+#include <aversive.h>
+
+#include <vect_base.h>
+#include <circles.h>
+
+static inline float sq(float x)
+{
+	return x*x;
+}
+
+uint8_t pt_is_inside_circle(const point_t *p, circle_t *c)
+{
+	vect_t v;
+	v.x = p->x - c->x;
+	v.y = p->y - c->y;
+	if ((v.x * v.x + v.y * v.y) < (c->r * c->r))
+		return 1;
+	return 0;
+}
+
+/*
+ * return values:
+ *  0 dont cross
+ *  1 one intersection point
+ *  2 two intersection points
+ *
+ *  p1, p2 arguments are the crossing points coordinates. Both p1 and
+ *  p2 are dummy for 0 result. When result is 1, p1 and p2 are set to
+ *  the same value.
+ */
+uint8_t circle_intersect(const circle_t *c1, const circle_t *c2,
+			 point_t *p1, point_t *p2)
+{
+	circle_t ca, cb;
+	float a, b, c, d, e;
+	uint8_t ret = 0;
+
+	/* create circles with same radius, but centered on 0,0 : it
+	 * will make process easier */
+	ca.x = 0;
+	ca.y = 0;
+	ca.r = c1->r;
+	cb.x = c2->x - c1->x;
+	cb.y = c2->y - c1->y;
+	cb.r = c2->r;
+
+	/* inspired from
+	   http://www.loria.fr/~roegel/notes/note0001.pdf */
+	a = 2. * cb.x;
+	b = 2. * cb.y;
+	c = sq(cb.x) + sq(cb.y) - sq(cb.r) + sq(ca.r);
+	d = sq(2. * a * c) -
+		(4. * (sq(a) + sq(b)) * (sq(c) - sq(b) * sq(ca.r)) );
+
+	/* no intersection */
+	if (d < 0)
+		return 0;
+
+	if (b == 0) {
+		/* special case */
+		e = sq(cb.r) - sq((2. * c - sq(a)) / (2. * a));
+
+		/* no intersection */
+		if (e < 0)
+			return 0;
+
+		p1->x = (2. * a * c - sqrt(d)) / (2. * (sq(a) + sq(b)));
+		p1->y = sqrt(e);
+		p2->x = p1->x;
+		p2->y = p1->y;
+		ret = 1;
+	}
+	else {
+		/* usual case */
+		p1->x = (2. * a * c - sqrt(d)) / (2. * (sq(a) + sq(b)));
+		p1->y = (c - a * p1->x) / b;
+		p2->x = (2. * a * c + sqrt(d)) / (2. * (sq(a) + sq(b)));
+		p2->y = (c - a * p2->x) / b;
+		ret = 2;
+	}
+
+	/* retranslate */
+	p1->x += c1->x;
+	p1->y += c1->y;
+	p2->x += c1->x;
+	p2->y += c1->y;
+
+	return ret;
+}
diff --git a/modules/base/math/geometry/circles.h b/modules/base/math/geometry/circles.h
new file mode 100644
index 0000000..ff3df6e
--- /dev/null
+++ b/modules/base/math/geometry/circles.h
@@ -0,0 +1,47 @@
+/*
+ *  Copyright Droids Corporation (2009)
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
+#ifndef _CIRCLES_H_
+#define _CIRCLES_H_
+
+typedef struct _circle {
+	double x;
+	double y;
+	double r;
+} circle_t;
+
+/* return true if a point is in the disc */
+uint8_t pt_is_inside_circle(const point_t *p, circle_t *c);
+
+/*
+ * return values:
+ *  0 dont cross
+ *  1 one intersection point
+ *  2 two intersection points
+ *
+ *  p1, p2 arguments are the crossing points coordinates. Both p1 and
+ *  p2 are dummy for 0 result. When result is 1, p1 and p2 are set to
+ *  the same value.
+ */
+uint8_t circle_intersect(const circle_t *c1, const circle_t *c2,
+			 point_t *p1, point_t *p2);
+
+#endif /* _CIRCLES_H_ */
diff --git a/modules/base/math/geometry/lines.c b/modules/base/math/geometry/lines.c
index a31834f..09ad1a1 100755
--- a/modules/base/math/geometry/lines.c
+++ b/modules/base/math/geometry/lines.c
@@ -1,3 +1,24 @@
+/*
+ *  Copyright Droids Corporation (2009)
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
 #include <aversive.h>
 
 #include <stdint.h>
diff --git a/modules/base/math/geometry/lines.h b/modules/base/math/geometry/lines.h
index a6cf421..5ae2394 100755
--- a/modules/base/math/geometry/lines.h
+++ b/modules/base/math/geometry/lines.h
@@ -1,3 +1,27 @@
+/*
+ *  Copyright Droids Corporation (2009)
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
+#ifndef _LINES_H_
+#define _LINES_H_
+
 typedef struct _line {
 	double a;
 	double b;
@@ -11,10 +35,21 @@ pts2line(const point_t *p1, const point_t *p2, line_t *l);
 void
 proj_pt_line(const point_t * p, const line_t * l, point_t * p_out);
 
-uint8_t 
+/*
+ * return values:
+ *  0 dont cross
+ *  1 cross
+ *  2 "parallel crossing"
+ *
+ *  p argument is the crossing point coordinates (dummy for 0 or 2
+ *  result)
+ */
+uint8_t
 intersect_line(const line_t *l1, const line_t *l2, point_t *p);
 
 uint8_t 
 intersect_segment(const point_t *s1, const point_t *s2, 
 		  const point_t *t1, const point_t *t2, 
 		  point_t *p);
+
+#endif /* _LINES_H_ */
diff --git a/modules/base/math/geometry/polygon.c b/modules/base/math/geometry/polygon.c
index d62179c..9eef11e 100755
--- a/modules/base/math/geometry/polygon.c
+++ b/modules/base/math/geometry/polygon.c
@@ -1,3 +1,24 @@
+/*
+ *  Copyright Droids Corporation (2009)
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
 #include <stdint.h>
 #include <inttypes.h>
 #include <stdlib.h>
diff --git a/modules/base/math/geometry/polygon.h b/modules/base/math/geometry/polygon.h
index 83468d8..d5c717c 100755
--- a/modules/base/math/geometry/polygon.h
+++ b/modules/base/math/geometry/polygon.h
@@ -1,3 +1,24 @@
+/*
+ *  Copyright Droids Corporation (2009)
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
 #ifndef _POLYGON_H_
 #define _POLYGON_H_
 
diff --git a/modules/base/math/geometry/vect_base.c b/modules/base/math/geometry/vect_base.c
index f36724c..2fb8563 100755
--- a/modules/base/math/geometry/vect_base.c
+++ b/modules/base/math/geometry/vect_base.c
@@ -1,16 +1,37 @@
+/*
+ *  Copyright Droids Corporation (2009)
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
 #include <stdint.h>
 #include <math.h>
 #include <vect_base.h>
  
 /* Return scalar product */
-int32_t 
+float 
 vect_pscal(vect_t *v, vect_t *w)
 {
 	return v->x * w->x + v->y * w->y;
 }
 
 /* Return Z of vectorial product */
-int32_t 
+float 
 vect_pvect(vect_t *v, vect_t *w)
 {
 	return v->x*w->y - v->y*w->x;
@@ -20,7 +41,7 @@ vect_pvect(vect_t *v, vect_t *w)
 int8_t 
 vect_pscal_sign(vect_t *v, vect_t *w)
 {
-	int32_t z;
+	float z;
 	z = vect_pscal(v, w);
 	if (z==0)
 		return 0;
@@ -31,13 +52,27 @@ vect_pscal_sign(vect_t *v, vect_t *w)
 int8_t 
 vect_pvect_sign(vect_t *v, vect_t *w)
 {
-	int32_t z;
+	float z;
 	z = vect_pvect(v, w);
 	if (z==0)
 		return 0;
 	return z>0?1:-1;
 }
 
+float norm(float x1, float y1, float x2, float y2)
+{
+	float x = x2 - x1;
+	float y = y2 - y1;
+	return sqrt(x*x + y*y);
+}
+
+float pt_norm(point_t *p1, point_t *p2)
+{
+	float x = p2->x - p1->x;
+	float y = p2->y - p1->y;
+	return sqrt(x*x + y*y);
+}
+
 /* norm of a vector */
 float
 vect_norm(vect_t *v)
@@ -45,11 +80,9 @@ vect_norm(vect_t *v)
 	return sqrt(v->x*v->x+v->y*v->y);
 }
 
-
-
 void vect_rot_trigo(vect_t *v)
 {
-	int32_t s;
+	float s;
     
 	s = v->x;
 	v->x= -v->y;
@@ -58,7 +91,7 @@ void vect_rot_trigo(vect_t *v)
 
 void vect_rot_retro(vect_t *v)
 {
-	int32_t s;
+	float s;
     
 	s = v->x;
 	v->x= v->y;
@@ -68,7 +101,7 @@ void vect_rot_retro(vect_t *v)
 
 float vect_get_angle(vect_t *v, vect_t *w)
 {
-	int32_t ps;
+	float ps;
 	float n;
 	
 	ps = vect_pscal(v, w);
@@ -76,3 +109,11 @@ float vect_get_angle(vect_t *v, vect_t *w)
 	
 	return acos((float)ps/n);
 }
+
+void vect_resize(vect_t *v, float l)
+{
+	float old_l = vect_norm(v);
+	float x = v->x, y = v->y;
+	v->x = x * l / old_l;
+	v->y = y * l / old_l;
+}
diff --git a/modules/base/math/geometry/vect_base.h b/modules/base/math/geometry/vect_base.h
index b9dda3f..b511e07 100755
--- a/modules/base/math/geometry/vect_base.h
+++ b/modules/base/math/geometry/vect_base.h
@@ -1,21 +1,43 @@
+/*
+ *  Copyright Droids Corporation (2009)
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
+#ifndef _VECT_BASE_H_
+#define _VECT_BASE_H_
+
 typedef struct _vect_t {
-  int32_t x;
-  int32_t y;
-}vect_t;
+  float x;
+  float y;
+} vect_t;
 
 typedef struct _point_t {
-  int32_t x;
-  int32_t y;
-}point_t;
-
+  float x;
+  float y;
+} point_t;
 
- 
 /* Return scalar product */
-int32_t 
+float 
 vect_pscal(vect_t *v, vect_t *w);
 
 /* Return Z of vectorial product */
-int32_t 
+float 
 vect_pvect(vect_t *v, vect_t *w);
 
 /* Return scalar product */
@@ -27,8 +49,13 @@ int8_t
 vect_pvect_sign(vect_t *v, vect_t *w);
 
 /* norm of a vector */
+float norm(float x1, float y1, float x2, float y2);
+float pt_norm(point_t *p1, point_t *p2);
 float vect_norm(vect_t *v);
 void vect_rot_trigo(vect_t *v);
 void vect_rot_retro(vect_t *v);
 float vect_get_angle(vect_t *v, vect_t *w);
-  
+
+void vect_resize(vect_t *v, float l);
+
+#endif /* _VECT_BASE_H_ */
diff --git a/projects/microb2010/tests/tourel_beacon/.config b/projects/microb2010/tests/tourel_beacon/.config
new file mode 100644
index 0000000..9a16be2
--- /dev/null
+++ b/projects/microb2010/tests/tourel_beacon/.config
@@ -0,0 +1,252 @@
+#
+# Automatically generated by make menuconfig: don't edit
+#
+
+#
+# Hardware
+#
+# CONFIG_MCU_AT90S2313 is not set
+# CONFIG_MCU_AT90S2323 is not set
+# CONFIG_MCU_AT90S3333 is not set
+# CONFIG_MCU_AT90S2343 is not set
+# CONFIG_MCU_ATTINY22 is not set
+# CONFIG_MCU_ATTINY26 is not set
+# CONFIG_MCU_AT90S4414 is not set
+# CONFIG_MCU_AT90S4433 is not set
+# CONFIG_MCU_AT90S4434 is not set
+# CONFIG_MCU_AT90S8515 is not set
+# CONFIG_MCU_AT90S8534 is not set
+# CONFIG_MCU_AT90S8535 is not set
+# CONFIG_MCU_AT86RF401 is not set
+# CONFIG_MCU_ATMEGA103 is not set
+# CONFIG_MCU_ATMEGA603 is not set
+# CONFIG_MCU_AT43USB320 is not set
+# CONFIG_MCU_AT43USB355 is not set
+# CONFIG_MCU_AT76C711 is not set
+# CONFIG_MCU_ATMEGA8 is not set
+# CONFIG_MCU_ATMEGA48 is not set
+# CONFIG_MCU_ATMEGA88 is not set
+# CONFIG_MCU_ATMEGA8515 is not set
+# CONFIG_MCU_ATMEGA8535 is not set
+# CONFIG_MCU_ATTINY13 is not set
+# CONFIG_MCU_ATTINY2313 is not set
+# CONFIG_MCU_ATMEGA16 is not set
+# CONFIG_MCU_ATMEGA161 is not set
+# CONFIG_MCU_ATMEGA162 is not set
+# CONFIG_MCU_ATMEGA163 is not set
+# CONFIG_MCU_ATMEGA165 is not set
+# CONFIG_MCU_ATMEGA168 is not set
+# CONFIG_MCU_ATMEGA169 is not set
+# CONFIG_MCU_ATMEGA32 is not set
+# CONFIG_MCU_ATMEGA323 is not set
+# CONFIG_MCU_ATMEGA325 is not set
+# CONFIG_MCU_ATMEGA3250 is not set
+# CONFIG_MCU_ATMEGA64 is not set
+# CONFIG_MCU_ATMEGA645 is not set
+# CONFIG_MCU_ATMEGA6450 is not set
+CONFIG_MCU_ATMEGA128=y
+# CONFIG_MCU_ATMEGA1281 is not set
+# CONFIG_MCU_AT90CAN128 is not set
+# CONFIG_MCU_AT94K is not set
+# CONFIG_MCU_AT90S1200 is not set
+# CONFIG_MCU_ATMEGA2560 is not set
+# CONFIG_MCU_ATMEGA256 is not set
+CONFIG_QUARTZ=16000000
+
+#
+# Generation options
+#
+# CONFIG_OPTM_0 is not set
+# CONFIG_OPTM_1 is not set
+# CONFIG_OPTM_2 is not set
+# CONFIG_OPTM_3 is not set
+CONFIG_OPTM_S=y
+CONFIG_MATH_LIB=y
+# CONFIG_FDEVOPEN_COMPAT is not set
+# CONFIG_NO_PRINTF is not set
+# CONFIG_MINIMAL_PRINTF is not set
+CONFIG_STANDARD_PRINTF=y
+# CONFIG_ADVANCED_PRINTF is not set
+# CONFIG_FORMAT_IHEX is not set
+# CONFIG_FORMAT_SREC is not set
+CONFIG_FORMAT_BINARY=y
+
+#
+# Base modules
+#
+# CONFIG_MODULE_CIRBUF is not set
+# CONFIG_MODULE_CIRBUF_LARGE is not set
+# CONFIG_MODULE_FIXED_POINT is not set
+# CONFIG_MODULE_VECT2 is not set
+CONFIG_MODULE_GEOMETRY=y
+# CONFIG_MODULE_SCHEDULER is not set
+# CONFIG_MODULE_SCHEDULER_STATS is not set
+# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
+# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
+CONFIG_MODULE_SCHEDULER_TIMER0=y
+# CONFIG_MODULE_SCHEDULER_MANUAL is not set
+# CONFIG_MODULE_TIME is not set
+# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIME_EXT is not set
+# CONFIG_MODULE_TIME_EXT_CREATE_CONFIG is not set
+
+#
+# Communication modules
+#
+# CONFIG_MODULE_UART is not set
+# CONFIG_MODULE_UART_9BITS is not set
+# CONFIG_MODULE_UART_CREATE_CONFIG is not set
+# CONFIG_MODULE_SPI is not set
+# CONFIG_MODULE_SPI_CREATE_CONFIG is not set
+# CONFIG_MODULE_I2C is not set
+# CONFIG_MODULE_I2C_MASTER is not set
+# CONFIG_MODULE_I2C_MULTIMASTER is not set
+# CONFIG_MODULE_I2C_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_CLIENT is not set
+# CONFIG_MODULE_MF2_CLIENT_USE_SCHEDULER is not set
+# CONFIG_MODULE_MF2_CLIENT_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_SERVER is not set
+# CONFIG_MODULE_MF2_SERVER_CREATE_CONFIG is not set
+
+#
+# Hardware modules
+#
+# CONFIG_MODULE_TIMER is not set
+# CONFIG_MODULE_TIMER_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIMER_DYNAMIC is not set
+# CONFIG_MODULE_PWM is not set
+# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
+# CONFIG_MODULE_PWM_NG is not set
+# CONFIG_MODULE_ADC is not set
+# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
+
+#
+# IHM modules
+#
+# CONFIG_MODULE_MENU is not set
+# CONFIG_MODULE_VT100 is not set
+# CONFIG_MODULE_RDLINE is not set
+# CONFIG_MODULE_RDLINE_CREATE_CONFIG is not set
+# CONFIG_MODULE_RDLINE_KILL_BUF is not set
+# CONFIG_MODULE_RDLINE_HISTORY is not set
+# CONFIG_MODULE_PARSE is not set
+# CONFIG_MODULE_PARSE_NO_FLOAT is not set
+
+#
+# External devices modules
+#
+# CONFIG_MODULE_LCD is not set
+# CONFIG_MODULE_LCD_CREATE_CONFIG is not set
+# CONFIG_MODULE_MULTISERVO is not set
+# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
+# CONFIG_MODULE_AX12 is not set
+# CONFIG_MODULE_AX12_CREATE_CONFIG is not set
+
+#
+# Brushless motor drivers (you should enable pwm modules to see all)
+#
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set
+
+#
+# Encoders (you need comm/spi for encoders_spi)
+#
+# CONFIG_MODULE_ENCODERS_MICROB is not set
+# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_SPI is not set
+# CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set
+
+#
+# Robot specific modules
+#
+# CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set
+# CONFIG_MODULE_POSITION_MANAGER is not set
+# CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE is not set
+# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
+# CONFIG_MODULE_BLOCKING_DETECTION_MANAGER is not set
+# CONFIG_MODULE_OBSTACLE_AVOIDANCE is not set
+# CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG is not set
+
+#
+# Control system modules
+#
+# CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
+# CONFIG_MODULE_PID is not set
+# CONFIG_MODULE_PID_CREATE_CONFIG is not set
+# CONFIG_MODULE_RAMP is not set
+# CONFIG_MODULE_QUADRAMP is not set
+# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
+# CONFIG_MODULE_BIQUAD is not set
+
+#
+# Radio devices
+#
+# CONFIG_MODULE_CC2420 is not set
+# CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
+
+#
+# Crypto modules
+#
+# CONFIG_MODULE_AES is not set
+# CONFIG_MODULE_AES_CTR is not set
+# CONFIG_MODULE_MD5 is not set
+# CONFIG_MODULE_MD5_HMAC is not set
+# CONFIG_MODULE_RC4 is not set
+
+#
+# Encodings modules
+#
+# CONFIG_MODULE_BASE64 is not set
+# CONFIG_MODULE_HAMMING is not set
+
+#
+# Debug modules
+#
+# CONFIG_MODULE_DIAGNOSTIC is not set
+# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
+CONFIG_MODULE_ERROR=y
+CONFIG_MODULE_ERROR_CREATE_CONFIG=y
+
+#
+# Programmer options
+#
+CONFIG_AVRDUDE=y
+# CONFIG_AVARICE is not set
+
+#
+# Avrdude
+#
+# CONFIG_AVRDUDE_PROG_FUTURELEC is not set
+# CONFIG_AVRDUDE_PROG_ABCMINI is not set
+# CONFIG_AVRDUDE_PROG_PICOWEB is not set
+# CONFIG_AVRDUDE_PROG_SP12 is not set
+# CONFIG_AVRDUDE_PROG_ALF is not set
+# CONFIG_AVRDUDE_PROG_BASCOM is not set
+# CONFIG_AVRDUDE_PROG_DT006 is not set
+# CONFIG_AVRDUDE_PROG_PONY_STK200 is not set
+CONFIG_AVRDUDE_PROG_STK200=y
+# CONFIG_AVRDUDE_PROG_PAVR is not set
+# CONFIG_AVRDUDE_PROG_BUTTERFLY is not set
+# CONFIG_AVRDUDE_PROG_AVR910 is not set
+# CONFIG_AVRDUDE_PROG_STK500 is not set
+# CONFIG_AVRDUDE_PROG_AVRISP is not set
+# CONFIG_AVRDUDE_PROG_BSD is not set
+# CONFIG_AVRDUDE_PROG_DAPA is not set
+# CONFIG_AVRDUDE_PROG_JTAG1 is not set
+# CONFIG_AVRDUDE_PROG_AVR109 is not set
+CONFIG_AVRDUDE_PORT="/dev/parport0"
+CONFIG_AVRDUDE_BAUDRATE=19200
+
+#
+# Avarice
+#
+CONFIG_AVARICE_PORT="/dev/ttyS0"
+CONFIG_AVARICE_DEBUG_PORT=1234
+CONFIG_AVARICE_PROG_MKI=y
+# CONFIG_AVARICE_PROG_MKII is not set
+# CONFIG_AVRDUDE_CHECK_SIGNATURE is not set
diff --git a/projects/microb2010/tests/tourel_beacon/.config.old b/projects/microb2010/tests/tourel_beacon/.config.old
new file mode 100644
index 0000000..0a9b697
--- /dev/null
+++ b/projects/microb2010/tests/tourel_beacon/.config.old
@@ -0,0 +1,252 @@
+#
+# Automatically generated by make menuconfig: don't edit
+#
+
+#
+# Hardware
+#
+# CONFIG_MCU_AT90S2313 is not set
+# CONFIG_MCU_AT90S2323 is not set
+# CONFIG_MCU_AT90S3333 is not set
+# CONFIG_MCU_AT90S2343 is not set
+# CONFIG_MCU_ATTINY22 is not set
+# CONFIG_MCU_ATTINY26 is not set
+# CONFIG_MCU_AT90S4414 is not set
+# CONFIG_MCU_AT90S4433 is not set
+# CONFIG_MCU_AT90S4434 is not set
+# CONFIG_MCU_AT90S8515 is not set
+# CONFIG_MCU_AT90S8534 is not set
+# CONFIG_MCU_AT90S8535 is not set
+# CONFIG_MCU_AT86RF401 is not set
+# CONFIG_MCU_ATMEGA103 is not set
+# CONFIG_MCU_ATMEGA603 is not set
+# CONFIG_MCU_AT43USB320 is not set
+# CONFIG_MCU_AT43USB355 is not set
+# CONFIG_MCU_AT76C711 is not set
+# CONFIG_MCU_ATMEGA8 is not set
+# CONFIG_MCU_ATMEGA48 is not set
+# CONFIG_MCU_ATMEGA88 is not set
+# CONFIG_MCU_ATMEGA8515 is not set
+# CONFIG_MCU_ATMEGA8535 is not set
+# CONFIG_MCU_ATTINY13 is not set
+# CONFIG_MCU_ATTINY2313 is not set
+# CONFIG_MCU_ATMEGA16 is not set
+# CONFIG_MCU_ATMEGA161 is not set
+# CONFIG_MCU_ATMEGA162 is not set
+# CONFIG_MCU_ATMEGA163 is not set
+# CONFIG_MCU_ATMEGA165 is not set
+# CONFIG_MCU_ATMEGA168 is not set
+# CONFIG_MCU_ATMEGA169 is not set
+# CONFIG_MCU_ATMEGA32 is not set
+# CONFIG_MCU_ATMEGA323 is not set
+# CONFIG_MCU_ATMEGA325 is not set
+# CONFIG_MCU_ATMEGA3250 is not set
+# CONFIG_MCU_ATMEGA64 is not set
+# CONFIG_MCU_ATMEGA645 is not set
+# CONFIG_MCU_ATMEGA6450 is not set
+CONFIG_MCU_ATMEGA128=y
+# CONFIG_MCU_ATMEGA1281 is not set
+# CONFIG_MCU_AT90CAN128 is not set
+# CONFIG_MCU_AT94K is not set
+# CONFIG_MCU_AT90S1200 is not set
+# CONFIG_MCU_ATMEGA2560 is not set
+# CONFIG_MCU_ATMEGA256 is not set
+CONFIG_QUARTZ=16000000
+
+#
+# Generation options
+#
+# CONFIG_OPTM_0 is not set
+# CONFIG_OPTM_1 is not set
+# CONFIG_OPTM_2 is not set
+# CONFIG_OPTM_3 is not set
+CONFIG_OPTM_S=y
+CONFIG_MATH_LIB=y
+# CONFIG_FDEVOPEN_COMPAT is not set
+# CONFIG_NO_PRINTF is not set
+# CONFIG_MINIMAL_PRINTF is not set
+CONFIG_STANDARD_PRINTF=y
+# CONFIG_ADVANCED_PRINTF is not set
+CONFIG_FORMAT_IHEX=y
+# CONFIG_FORMAT_SREC is not set
+# CONFIG_FORMAT_BINARY is not set
+
+#
+# Base modules
+#
+# CONFIG_MODULE_CIRBUF is not set
+# CONFIG_MODULE_CIRBUF_LARGE is not set
+# CONFIG_MODULE_FIXED_POINT is not set
+# CONFIG_MODULE_VECT2 is not set
+CONFIG_MODULE_GEOMETRY=y
+# CONFIG_MODULE_SCHEDULER is not set
+# CONFIG_MODULE_SCHEDULER_STATS is not set
+# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
+# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
+CONFIG_MODULE_SCHEDULER_TIMER0=y
+# CONFIG_MODULE_SCHEDULER_MANUAL is not set
+# CONFIG_MODULE_TIME is not set
+# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIME_EXT is not set
+# CONFIG_MODULE_TIME_EXT_CREATE_CONFIG is not set
+
+#
+# Communication modules
+#
+# CONFIG_MODULE_UART is not set
+# CONFIG_MODULE_UART_9BITS is not set
+# CONFIG_MODULE_UART_CREATE_CONFIG is not set
+# CONFIG_MODULE_SPI is not set
+# CONFIG_MODULE_SPI_CREATE_CONFIG is not set
+# CONFIG_MODULE_I2C is not set
+# CONFIG_MODULE_I2C_MASTER is not set
+# CONFIG_MODULE_I2C_MULTIMASTER is not set
+# CONFIG_MODULE_I2C_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_CLIENT is not set
+# CONFIG_MODULE_MF2_CLIENT_USE_SCHEDULER is not set
+# CONFIG_MODULE_MF2_CLIENT_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_SERVER is not set
+# CONFIG_MODULE_MF2_SERVER_CREATE_CONFIG is not set
+
+#
+# Hardware modules
+#
+# CONFIG_MODULE_TIMER is not set
+# CONFIG_MODULE_TIMER_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIMER_DYNAMIC is not set
+# CONFIG_MODULE_PWM is not set
+# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
+# CONFIG_MODULE_PWM_NG is not set
+# CONFIG_MODULE_ADC is not set
+# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
+
+#
+# IHM modules
+#
+# CONFIG_MODULE_MENU is not set
+# CONFIG_MODULE_VT100 is not set
+# CONFIG_MODULE_RDLINE is not set
+# CONFIG_MODULE_RDLINE_CREATE_CONFIG is not set
+# CONFIG_MODULE_RDLINE_KILL_BUF is not set
+# CONFIG_MODULE_RDLINE_HISTORY is not set
+# CONFIG_MODULE_PARSE is not set
+# CONFIG_MODULE_PARSE_NO_FLOAT is not set
+
+#
+# External devices modules
+#
+# CONFIG_MODULE_LCD is not set
+# CONFIG_MODULE_LCD_CREATE_CONFIG is not set
+# CONFIG_MODULE_MULTISERVO is not set
+# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
+# CONFIG_MODULE_AX12 is not set
+# CONFIG_MODULE_AX12_CREATE_CONFIG is not set
+
+#
+# Brushless motor drivers (you should enable pwm modules to see all)
+#
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set
+
+#
+# Encoders (you need comm/spi for encoders_spi)
+#
+# CONFIG_MODULE_ENCODERS_MICROB is not set
+# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_SPI is not set
+# CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set
+
+#
+# Robot specific modules
+#
+# CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set
+# CONFIG_MODULE_POSITION_MANAGER is not set
+# CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE is not set
+# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
+# CONFIG_MODULE_BLOCKING_DETECTION_MANAGER is not set
+# CONFIG_MODULE_OBSTACLE_AVOIDANCE is not set
+# CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG is not set
+
+#
+# Control system modules
+#
+# CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
+# CONFIG_MODULE_PID is not set
+# CONFIG_MODULE_PID_CREATE_CONFIG is not set
+# CONFIG_MODULE_RAMP is not set
+# CONFIG_MODULE_QUADRAMP is not set
+# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
+# CONFIG_MODULE_BIQUAD is not set
+
+#
+# Radio devices
+#
+# CONFIG_MODULE_CC2420 is not set
+# CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
+
+#
+# Crypto modules
+#
+# CONFIG_MODULE_AES is not set
+# CONFIG_MODULE_AES_CTR is not set
+# CONFIG_MODULE_MD5 is not set
+# CONFIG_MODULE_MD5_HMAC is not set
+# CONFIG_MODULE_RC4 is not set
+
+#
+# Encodings modules
+#
+# CONFIG_MODULE_BASE64 is not set
+# CONFIG_MODULE_HAMMING is not set
+
+#
+# Debug modules
+#
+# CONFIG_MODULE_DIAGNOSTIC is not set
+# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
+CONFIG_MODULE_ERROR=y
+CONFIG_MODULE_ERROR_CREATE_CONFIG=y
+
+#
+# Programmer options
+#
+CONFIG_AVRDUDE=y
+# CONFIG_AVARICE is not set
+
+#
+# Avrdude
+#
+# CONFIG_AVRDUDE_PROG_FUTURELEC is not set
+# CONFIG_AVRDUDE_PROG_ABCMINI is not set
+# CONFIG_AVRDUDE_PROG_PICOWEB is not set
+# CONFIG_AVRDUDE_PROG_SP12 is not set
+# CONFIG_AVRDUDE_PROG_ALF is not set
+# CONFIG_AVRDUDE_PROG_BASCOM is not set
+# CONFIG_AVRDUDE_PROG_DT006 is not set
+# CONFIG_AVRDUDE_PROG_PONY_STK200 is not set
+CONFIG_AVRDUDE_PROG_STK200=y
+# CONFIG_AVRDUDE_PROG_PAVR is not set
+# CONFIG_AVRDUDE_PROG_BUTTERFLY is not set
+# CONFIG_AVRDUDE_PROG_AVR910 is not set
+# CONFIG_AVRDUDE_PROG_STK500 is not set
+# CONFIG_AVRDUDE_PROG_AVRISP is not set
+# CONFIG_AVRDUDE_PROG_BSD is not set
+# CONFIG_AVRDUDE_PROG_DAPA is not set
+# CONFIG_AVRDUDE_PROG_JTAG1 is not set
+# CONFIG_AVRDUDE_PROG_AVR109 is not set
+CONFIG_AVRDUDE_PORT="/dev/parport0"
+CONFIG_AVRDUDE_BAUDRATE=19200
+
+#
+# Avarice
+#
+CONFIG_AVARICE_PORT="/dev/ttyS0"
+CONFIG_AVARICE_DEBUG_PORT=1234
+CONFIG_AVARICE_PROG_MKI=y
+# CONFIG_AVARICE_PROG_MKII is not set
+# CONFIG_AVRDUDE_CHECK_SIGNATURE is not set
diff --git a/projects/microb2010/tests/tourel_beacon/Makefile b/projects/microb2010/tests/tourel_beacon/Makefile
new file mode 100644
index 0000000..6d5d8e2
--- /dev/null
+++ b/projects/microb2010/tests/tourel_beacon/Makefile
@@ -0,0 +1,21 @@
+TARGET = main
+
+# repertoire des modules
+AVERSIVE_DIR =../..# VALUE, absolute or relative path : example ../.. #
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c
+
+# List Assembler source files here.
+# Make them always end in a capital .S.  Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC = 
+
+########################################
+
+-include .aversive_conf
+include $(AVERSIVE_DIR)/mk/aversive_project.mk
diff --git a/projects/microb2010/tests/tourel_beacon/error_config.h b/projects/microb2010/tests/tourel_beacon/error_config.h
new file mode 100644
index 0000000..2e1288a
--- /dev/null
+++ b/projects/microb2010/tests/tourel_beacon/error_config.h
@@ -0,0 +1,31 @@
+/*  
+ *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ * 
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: error_config.h,v 1.4.6.1 2006-11-26 21:06:03 zer0 Exp $
+ *
+ */
+
+#ifndef _ERROR_CONFIG_
+#define _ERROR_CONFIG_
+
+/** enable the dump of the comment */
+#define ERROR_DUMP_TEXTLOG 
+
+/** enable the dump of filename and line number */
+#define ERROR_DUMP_FILE_LINE
+
+#endif
diff --git a/projects/microb2010/tests/tourel_beacon/graph.py b/projects/microb2010/tests/tourel_beacon/graph.py
new file mode 100644
index 0000000..23193b7
--- /dev/null
+++ b/projects/microb2010/tests/tourel_beacon/graph.py
@@ -0,0 +1,229 @@
+import sys, re, math
+import numpy as np
+import matplotlib
+import matplotlib.path as mpath
+import matplotlib.patches as mpatches
+import matplotlib.pyplot as plt
+from matplotlib.patches import Arrow, Circle, Wedge, Polygon
+from matplotlib.collections import PatchCollection
+from numpy.random import randn
+import pylab
+import popen2, random
+
+Path = mpath.Path
+FLOAT = "([-+]?[0-9]*\.?[0-9]+)"
+INT = "([-+]?[0-9][0-9]*)"
+RANDOM_ERROR = 0.3 # deg
+beacons = [ (0.0, 1050.0), (3000.0, 0.0), (3000.0, 2100.0) ]
+
+def build_poly(ptlist):
+    polydata = []
+    polydata.append((Path.MOVETO, (ptlist[0])))
+    for pt in ptlist[1:]:
+        polydata.append((Path.LINETO, (pt)))
+    polydata.append((Path.CLOSEPOLY, (ptlist[0])))
+    codes, verts = zip(*polydata)
+    poly = mpath.Path(verts, codes)
+    x, y = zip(*poly.vertices)
+    return x,y
+
+def build_path(ptlist):
+    polydata = []
+    polydata.append((Path.MOVETO, (ptlist[0])))
+    for pt in ptlist[1:]:
+        polydata.append((Path.LINETO, (pt)))
+    codes, verts = zip(*polydata)
+    poly = mpath.Path(verts, codes)
+    x, y = zip(*poly.vertices)
+    return x,y
+
+def get_angle(ref, b):
+    """get angle from robot point of view (ref) of beacon 'b'"""
+    a = math.atan2(b[1]-ref[1], b[0]-ref[0])
+    ea = (math.pi/180.) * RANDOM_ERROR * random.random()
+    ea = random.choice([ea, -ea])
+    return a + ea, ea
+
+    alpha = math.atan2(a[1]-ref[1], a[0]-ref[0])
+    beta = math.atan2(b[1]-ref[1], b[0]-ref[0])
+    gamma = beta-alpha
+    if gamma < 0:
+        gamma = gamma + 2*math.pi
+    return gamma + error, error
+
+def dist(p1, p2):
+    return math.sqrt((p1[0]-p2[0])**2+(p1[1]-p2[1])**2)
+
+def graph(filename, real_x, real_y):
+
+    real_pt = (real_x, real_y)
+
+    # display beacons
+    patches = []
+    for b in beacons:
+        patches += [ Circle((b[0], b[1]), 40, alpha=0.4) ]
+
+    patches += [ Circle((real_x, real_y), 20, alpha=0.4, facecolor="red") ]
+
+    # process angles from robot position
+    a0,ea0 = get_angle((real_x, real_y), beacons[0])
+    a1,ea1 = get_angle((real_x, real_y), beacons[1])
+    a2,ea2 = get_angle((real_x, real_y), beacons[2])
+    text  = "a0 = %2.2f (%+2.2f deg)\n"%(a0, ea0*(180./math.pi))
+    text += "a1 = %2.2f (%+2.2f deg)\n"%(a1, ea1*(180./math.pi))
+    text += "a2 = %2.2f (%+2.2f deg)\n"%(a2, ea2*(180./math.pi))
+
+    a01 = a1-a0
+    if a01 < 0:
+        a01 += 2*math.pi
+    a12 = a2-a1
+    if a12 < 0:
+        a12 += 2*math.pi
+    a20 = a0-a2
+    if a20 < 0:
+        a20 += 2*math.pi
+
+    cmd = "./main angle2pos %f %f %f"%(a01, a12, a20)
+    o,i = popen2.popen2(cmd)
+    i.close()
+    s = o.read(1000000)
+    o.close()
+
+    open(filename + ".txt", "w").write(s)
+
+    if len(s) == 1000000:
+        gloupix()
+
+    fig = plt.figure()
+    ax = fig.add_subplot(111)
+    ax.set_title("Erreur de position en mm lorsqu'on ajoute une erreur de mesure\n"
+                 "d'angle aleatoire comprise entre - %1.1f et %1.1f deg"%(RANDOM_ERROR,
+                                                                          RANDOM_ERROR))
+
+    # area
+    x,y = build_poly([(0,0), (3000,0), (3000,2100), (0,2100)])
+    ax.plot(x, y, 'g-')
+
+    for l in s.split("\n"):
+        m = re.match("circle: x=%s y=%s r=%s"%(FLOAT, FLOAT, FLOAT), l)
+        if m:
+            x,y,r = (float(m.groups()[0]), float(m.groups()[1]), float(m.groups()[2]))
+            print x,y,r
+            patches += [ Circle((x, y), r, facecolor="none") ]
+        m = re.match("p%s: x=%s y=%s"%(INT, FLOAT, FLOAT), l)
+        if m:
+            n,x,y = (float(m.groups()[0]), float(m.groups()[1]), float(m.groups()[2]))
+            if (n == 0):
+                patches += [ Circle((x, y), 20, alpha=0.4, facecolor="yellow") ]
+                result_pt = (x, y)
+            text += l + "\n"
+
+    p = PatchCollection(patches, cmap=matplotlib.cm.jet, match_original=True)
+
+    # text area, far from the point
+    l = [(800., 1800.), (800., 500.), (1500., 1800.), (1500., 500.),
+         (2200., 1800.), (2200., 500.)]
+    l.sort(cmp=lambda p1,p2: (dist(p1,real_pt)<dist(p2,real_pt)) and 1 or -1)
+    x,y = l[0]
+    text += "real_pt: x=%2.2f, y=%2.2f\n"%(real_x, real_y)
+    text += "error = %2.2f mm"%(dist(real_pt, result_pt))
+    matplotlib.pyplot.text(x, y, text, size=8,
+             ha="center", va="center",
+             bbox = dict(boxstyle="round",
+                         ec=(1., 0.5, 0.5),
+                         fc=(1., 0.8, 0.8),
+                         alpha=0.6,
+                         ),
+             alpha=0.8
+             )
+    ax.add_collection(p)
+
+    ax.grid()
+    ax.set_xlim(-100, 3100)
+    ax.set_ylim(-100, 2200)
+    #ax.set_title('spline paths')
+    #plt.show()
+    fig.savefig(filename)
+
+def do_random_test():
+    random.seed(0)
+    for i in range(100):
+        x = random.randint(0, 3000)
+        y = random.randint(0, 2100)
+        graph("test%d.png"%i, x, y)
+
+def do_graph_2d(data, filename, title):
+    # Make plot with vertical (default) colorbar
+    fig = plt.figure()
+    ax = fig.add_subplot(111)
+
+    cax = ax.imshow(data)
+    ax.set_title(title)
+
+    # Add colorbar, make sure to specify tick locations to match desired ticklabels
+    cbar = fig.colorbar(cax, ticks=[0, 50])
+    cbar.ax.set_yticklabels(['0', '50 et plus'])# vertically oriented colorbar
+    fig.savefig(filename)
+
+def get_data(cmd, sat=0):
+    data = np.array([[0.]*210]*300)
+    oo,ii = popen2.popen2(cmd)
+    ii.close()
+    while True:
+        l = oo.readline()
+        if l == "":
+            break
+        try:
+            x,y,e = l[:-1].split(" ")
+        except:
+            print "Fail: %s"%(l)
+            continue
+        x = int(x)
+        y = int(y)
+        e = float(e)
+        if sat:
+            if e < sat:
+                e = 0
+            else:
+                e = sat
+        data[x,y] = e
+    oo.close()
+    return data
+
+def do_graph_2d_simple_error():
+    for i in range(4):
+        for j in ["0.1", "0.5", "1.0"]:
+            data = get_data("./main simple_error %d %s"%(i,j))
+            if i != 3:
+                title  = 'Erreur de position en mm, pour une erreur\n'
+                title += 'de mesure de %s deg sur la balise %d'%(j,i)
+            else:
+                title  = 'Erreur de position en mm, pour une erreur\n'
+                title += 'de mesure de %s deg sur les 3 balises'%(j)
+            do_graph_2d(data, "error_a%d_%s.png"%(i,j), title)
+
+def do_graph_2d_move_error():
+    i = 0
+    for period in [ 20, 40 ]:
+        for speed in [ 0.3, 0.7, 1. ]:
+            angle_deg = 0
+            while angle_deg < 360:
+                angle_rad = angle_deg * (math.pi/180.)
+                data = get_data("./main move_error %f %f %f"%(speed, period, angle_rad))
+                do_graph_2d(data, "error_move_error_%d.png"%(i),
+                            'Erreur de mesure si le robot se deplace a %2.2f m/s\n'
+                            'vers %d deg (periode tourelle = %d ms)'%(speed, angle_deg, period))
+                angle_deg += 45
+                i += 1
+    period = 20
+    speed = 1.
+    angle_deg = 45
+    angle_rad = angle_deg * (math.pi/180.)
+    data = get_data("./main move_error %f %f %f"%(speed, period, angle_rad), sat=20)
+    do_graph_2d(data, "error_move_error_%d.png"%(i),
+                "En rouge, l'erreur de mesure est > 2cm (pour un deplacement\n"
+                'a %2.2f m/s vers %d deg et une periode tourelle = %d ms)'%(speed, angle_deg, period))
+
+#do_random_test()
+#do_graph_2d_simple_error()
+do_graph_2d_move_error()
diff --git a/projects/microb2010/tests/tourel_beacon/main.c b/projects/microb2010/tests/tourel_beacon/main.c
new file mode 100644
index 0000000..38ab0a7
--- /dev/null
+++ b/projects/microb2010/tests/tourel_beacon/main.c
@@ -0,0 +1,343 @@
+/*
+ *  Copyright Droids Corporation (2009)
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <aversive.h>
+
+#include <vect_base.h>
+#include <lines.h>
+#include <circles.h>
+
+#define POS_ACCURACY 10.0 /* 1 cm accuracy max */
+#ifndef HOST_VERSION
+#define printf(args...) do {} while(0)
+#endif
+
+static int dprint = 0;
+#define dprintf(args...) if (dprint) printf(args)
+
+const point_t beacon0 = { 0, 1050 };
+const point_t beacon1 = { 3000, 0 };
+const point_t beacon2 = { 3000, 2100 };
+
+/* Fill the 2 circles pointer given as parameter, each of those cross
+ * both beacons b1 and b2. From any point of these circles (except b1
+ * and b2), we see b1 and b2 with the angle of a_rad (which must be
+ * positive). Return 0 on success.
+ *
+ *                              l
+ *                <------------------------->
+ *
+ *              b1              O            b2
+ *               +----------------------------+
+ *             ,' \\            |            /|'\
+ *            /    \ \          | ^        / |   `
+ *           /       \ \   a___ | | d    /   |    `.
+ *          /         \  \ /    | v    /     |     \
+ *         |            \  \    |    /       |      |
+ *         |             \   \  |  /        |       |
+ *         |               \   \|/          |        |
+ *         |                \   * C         |        |
+ *         |                  \             |       .'
+ *         |                   \           |        |
+ *          |                    \         |       .'
+ *           \                    \   a____|       /
+ *            \                     \ /    |     ,'
+ *             `                     \    |     /
+ *              '.                     \  |   ,'
+ *                '-.                   \ |_,'
+ *                   '-._              _,*'
+ *                       '`--......---'     R (the robot)
+ *
+ */
+int8_t angle_to_circles(circle_t *c1, circle_t *c2,
+			 const point_t *b1, const point_t *b2,
+			 double a_rad)
+{
+	point_t O;
+	vect_t v;
+	float l, d;
+
+	/* reject negative or too small angles */
+	if (a_rad <= 0.01)
+		return -1;
+
+	/* get position of O */
+	O.x = (b1->x + b2->x) / 2;
+	O.y = (b1->y + b2->y) / 2;
+
+	/* get the length l */
+	v.x = b2->x - b1->x;
+	v.y = b2->y - b1->y;
+	l = vect_norm(&v);
+
+	/* distance from O to the center of the circle */
+	/* XXX div by 0 when pi */
+	d = l / (2 * tan(a_rad));
+
+	/* get the circle c1 */
+	vect_rot_trigo(&v);
+	vect_resize(&v, d);
+	if (c1) {
+		c1->x = O.x + v.x;
+		c1->y = O.y + v.y;
+		c1->r = norm(b1->x, b1->y, c1->x, c1->y);
+	}
+
+	/* get the circle c2 */
+	if (c2) {
+		c2->x = O.x - v.x;
+		c2->y = O.y - v.y;
+		c2->r = norm(b1->x, b1->y, c1->x, c1->y);
+	}
+
+	return 0;
+}
+
+/* get the position of the robot from the angle of the 3 beacons */
+int8_t angles_to_posxy(point_t *pos, double a01, double a12, double a20)
+{
+	circle_t c01, c12, c20;
+	point_t dummy_pt, p1, p2, p3;
+
+	dprintf("a01 = %2.2f\n", a01);
+	dprintf("a12 = %2.2f\n", a12);
+	dprintf("a20 = %2.2f\n", a20);
+
+	if (angle_to_circles(&c01, NULL, &beacon0, &beacon1, a01))
+		return -1;
+	dprintf("circle: x=%2.2f y=%2.2f r=%2.2f\n", c01.x, c01.y, c01.r);
+
+	if (angle_to_circles(&c12, NULL, &beacon1, &beacon2, a12))
+		return -1;
+	dprintf("circle: x=%2.2f y=%2.2f r=%2.2f\n", c12.x, c12.y, c12.r);
+
+	if (angle_to_circles(&c20, NULL, &beacon2, &beacon0, a20))
+		return -1;
+	dprintf("circle: x=%2.2f y=%2.2f r=%2.2f\n", c20.x, c20.y, c20.r);
+
+	if (circle_intersect(&c01, &c12, &p1, &dummy_pt) == 0)
+		return -1;
+	if (circle_intersect(&c12, &c20, &p2, &dummy_pt) == 0)
+		return -1;
+	if (circle_intersect(&c20, &c01, &dummy_pt, &p3) == 0)
+		return -1;
+
+	dprintf("p1: x=%2.2f y=%2.2f\n", p1.x, p1.y);
+	dprintf("p2: x=%2.2f y=%2.2f\n", p2.x, p2.y);
+	dprintf("p3: x=%2.2f y=%2.2f\n", p3.x, p3.y);
+
+	/* if (norm(p1.x, p1.y, p2.x, p2.y) > POS_ACCURACY || */
+	/*     norm(p2.x, p2.y, p3.x, p3.y) > POS_ACCURACY || */
+	/*     norm(p3.x, p3.y, p1.x, p1.y) > POS_ACCURACY) */
+	/* 	return -1; */
+
+	pos->x = (p1.x + p2.x + p3.x) / 3.0;
+	pos->y = (p1.y + p2.y + p3.y) / 3.0;
+
+	return 0;
+}
+
+/* get the angles of beacons from xy pos */
+int8_t posxy_to_angles(point_t pos, double *a01, double *a12,
+		       double *a20, int err_num, float err_val)
+{
+	double a0, a1, a2;
+
+	a0 = atan2(beacon0.y-pos.y, beacon0.x-pos.x);
+	a1 = atan2(beacon1.y-pos.y, beacon1.x-pos.x);
+	a2 = atan2(beacon2.y-pos.y, beacon2.x-pos.x);
+
+	if (err_num == 0 || err_num == 3)
+		a0 += (err_val * M_PI/180.);
+	if (err_num == 1 || err_num == 3)
+		a1 += (err_val * M_PI/180.);
+	if (err_num == 2 || err_num == 3)
+		a2 += (err_val * M_PI/180.);
+
+	*a01 = a1-a0;
+	if (*a01 < 0)
+		*a01 += M_PI*2;
+	*a12 = a2-a1;
+	if (*a12 < 0)
+		*a12 += M_PI*2;
+	*a20 = a0-a2;
+	if (*a20 < 0)
+		*a20 += M_PI*2;
+
+	return 0;
+}
+
+int8_t process_move_error(double x, double y, double speed,
+			  double period, double angle, double *err)
+{
+	double a01, a12, a20;
+	point_t pos, tmp;
+	double a0, a1, a2;
+	vect_t u,v;
+	point_t pos2, pos3;
+
+	pos.x = x;
+	pos.y = y;
+
+	/* from start to destination */
+	v.x = cos(angle) * speed * period;
+	v.y = sin(angle) * speed * period;
+
+	/* first process real pos */
+	posxy_to_angles(pos, &a01, &a12, &a20, -1, 0);
+
+	/* vector covered during measure of a0 and a1 */
+	u.x = v.x * a01 / (2*M_PI);
+	u.y = v.y * a01 / (2*M_PI);
+	pos2.x = pos.x + u.x;
+	pos2.y = pos.y + u.y;
+
+	/* vector covered during measure of a1 and a2 */
+	u.x = v.x * a12 / (2*M_PI);
+	u.y = v.y * a12 / (2*M_PI);
+	pos3.x = pos2.x + u.x;
+	pos3.y = pos2.y + u.y;
+
+	dprintf("p0: x=%2.2f y=%2.2f\n", pos.x, pos.y);
+	dprintf("p1: x=%2.2f y=%2.2f\n", pos2.x, pos2.y);
+	dprintf("p2: x=%2.2f y=%2.2f\n", pos3.x, pos3.y);
+
+	a0 = atan2(beacon0.y-pos.y, beacon0.x-pos.x);
+	a1 = atan2(beacon1.y-pos2.y, beacon1.x-pos2.x);
+	a2 = atan2(beacon2.y-pos3.y, beacon2.x-pos3.x);
+
+	a01 = a1-a0;
+	if (a01 < 0)
+		a01 += M_PI*2;
+	a12 = a2-a1;
+	if (a12 < 0)
+		a12 += M_PI*2;
+	a20 = a0-a2;
+	if (a20 < 0)
+		a20 += M_PI*2;
+
+	if (angles_to_posxy(&tmp, a01, a12, a20))
+		return -1;
+	*err = pt_norm(&tmp, &pos);
+	if (*err > 50.) /* saturate error to 5cm */
+		*err = 50.;
+	return 0;
+}
+
+/* whole process is around 3ms on atmega128 at 16Mhz */
+int main(int argc, char **argv)
+{
+	double a01, a12, a20;
+	point_t pos, tmp;
+	const char *mode = "nothing";
+
+#ifdef HOST_VERSION
+	if (argc < 2) {
+		printf("bad args\n");
+		return -1;
+	}
+	mode = argv[1];
+#else
+	mode = "angle2pos";
+	argc = 5;
+	a01 = 1.65;
+	a12 = 2.12;
+	a20 = 2.53;
+#endif
+
+	if (argc == 5 && strcmp(mode, "angle2pos") == 0) {
+#ifdef HOST_VERSION
+		dprint = 1;
+		a01 = atof(argv[2]);
+		a12 = atof(argv[3]);
+		a20 = atof(argv[4]);
+#endif
+		if (angles_to_posxy(&pos, a01, a12, a20) < 0)
+			return -1;
+		printf("p0: x=%2.2f y=%2.2f\n", pos.x, pos.y);
+		return 0;
+	}
+
+	if (argc == 4 && strcmp(mode, "simple_error") == 0) {
+		int x, y;
+		int err_num;
+		double err_val_deg;
+		double err;
+
+		err_num = atof(argv[2]); /* which beacon sees an error */
+		err_val_deg = atof(argv[3]); /* how many degrees of error */
+
+		for (x=0; x<300; x++) {
+			for (y=0; y<210; y++) {
+				pos.x = x*10;
+				pos.y = y*10;
+				posxy_to_angles(pos, &a01, &a12, &a20,
+						err_num, err_val_deg);
+				if (angles_to_posxy(&tmp, a01, a12, a20))
+					continue;
+				err = pt_norm(&tmp, &pos);
+				if (err > 50.) /* saturate error to 5cm */
+					err = 50.;
+				printf("%d %d %2.2f\n", x, y, err);
+			}
+		}
+		return 0;
+	}
+
+	if ((argc == 5 || argc == 7)
+	    && strcmp(argv[1], "move_error") == 0) {
+		int x, y;
+		double angle, speed, period, err;
+
+		speed = atof(argv[2]); /* speed in m/s ( = mm/ms) */
+		period = atof(argv[3]); /* period of turret in ms */
+		angle = atof(argv[4]); /* direction of moving */
+		if (argc == 7) {
+			dprint = 1;
+			process_move_error(atof(argv[5]), atof(argv[6]),
+					   speed, period, angle, &err);
+			printf("%2.2f %2.2f %2.2f\n", atof(argv[5]),
+			       atof(argv[6]), err);
+			return 0;
+		}
+
+		for (x=0; x<300; x++) {
+			for (y=0; y<210; y++) {
+				pos.x = x*10;
+				pos.y = y*10;
+				if (process_move_error(pos.x, pos.y,
+						       speed, period, angle,
+						       &err) < 0)
+					continue;
+				printf("%d %d %2.2f\n", x, y, err);
+			}
+		}
+		return 0;
+	}
+
+	printf("bad args\n");
+	return -1;
+}