2 * Copyright Droids Corporation, Microb Technology (2009)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: strat_utils.h,v 1.3 2009-04-24 19:30:41 zer0 Exp $
23 #define DEG(x) (((double)(x)) * (180.0 / M_PI))
24 #define RAD(x) (((double)(x)) * (M_PI / 180.0))
25 #define M_2PI (2*M_PI)
32 /* wait traj end flag or cond. return 0 if cond become true, else
33 * return the traj flag */
34 #define WAIT_COND_OR_TRAJ_END(cond, mask) \
37 while ( (! (cond)) && (__err == 0)) { \
38 __err = test_traj_end(TRAJ_FLAGS_NO_NEAR); \
43 int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
44 int16_t distance_from_robot(int16_t x, int16_t y);
45 int16_t simple_modulo_360(int16_t a);
46 double simple_modulo_2pi(double a);
47 int16_t angle_abs_to_rel(int16_t a_abs);
48 void rel_da_to_abs_xy(double d_rel, double a_rel_rad, double *x_abs, double *y_abs);
49 double norm(double x, double y);
50 void rel_xy_to_abs_xy(double x_rel, double y_rel, double *x_abs, double *y_abs);
51 void abs_xy_to_rel_da(double x_abs, double y_abs, double *d_rel, double *a_rel_rad);
52 void rotate(double *x, double *y, double rot);
53 uint8_t is_in_area(int16_t x, int16_t y, int16_t margin);
54 uint8_t robot_is_in_area(int16_t margin);
55 uint8_t robot_is_near_disc(void);
56 uint8_t y_is_more_than(int16_t y);
57 uint8_t x_is_more_than(int16_t x);
58 int16_t fast_sin(int16_t deg);
59 int16_t fast_cos(int16_t deg);
60 uint8_t get_color(void);
61 uint8_t get_opponent_color(void);
62 int8_t get_opponent_xy(int16_t *x, int16_t *y);
63 int8_t get_opponent_da(int16_t *d, int16_t *a);
64 int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a);
65 uint8_t get_column_count(void);
66 uint8_t get_column_count_right(void);
67 uint8_t get_column_count_left(void);
68 uint8_t get_lintel_count(void);
69 uint8_t get_mechboard_mode(void);
70 uint8_t pump_left1_is_full(void);
71 uint8_t pump_left2_is_full(void);
72 uint8_t pump_right1_is_full(void);
73 uint8_t pump_right2_is_full(void);
74 uint8_t get_scanner_status(void);
75 uint8_t wait_scan_done(uint16_t timeout);
76 uint8_t opponent_is_behind(void);