+ *
+ * Ball (tomato) and i,j coords (for waypoints)
+ *
+ * 2100 +--0--1--2--3--4--5--6--7--8--9-10-11-12--+
+ * 7 t5 t9 |
+ * 6 t3 t7 t11 |
+ * 5 t1 t4 t8 t13 |
+ * 4 t2 t6 t10 |
+ * y 3 t0 t12 |
+ * 2 |
+ * 1-----+ +-----|
+ * 0 | | |
+ * | Yellow Blue |
+ * 0 +-----+-----------------------------+-----+
+ * 0 x 3000
+ *
+ *
+ * Corn position and lines, valid for BLUE.
+ *
+ * vertical lines
+ * 5 4 3 2 1 0
+ * 0 +-----|-----|-----|-----|-----|-----|-----+
+ * | c14 c9 c5 |
+ * | c17 c11 c7 c2 | diag
+ * | c13 c8 c4 | lines
+ * 0/ c16 c10 c6 c1 \0
+ * y | c12 c3 |
+ * 1/ c15 c0 \1
+ * |-----+ +-----|
+ * 2/ | | \2
+ * | Yellow Blue |
+ * 2100 +-----+-----------------------------+-----+
+ * 3000 x 0
+ *
+ * Ball (tomato) and i,j coords (for waypoints)
+ *
+ * 0 +-12-11-10--9--8--7--6--5--4--3--2--1--0--+
+ * 7 t9 t5 |
+ * 6 t11 t7 t3 |
+ * 5 t13 t8 t4 t1 |
+ * 4 t10 t6 t2 |
+ * y 3 t12 t0 |
+ * 2 |
+ * 1-----+ +-----|
+ * 0 | | |
+ * | Yellow Blue |
+ * 2100 +-----+-----------------------------+-----+
+ * 3000 x 0
+ *