git.droids-corp.org
/
aversive.git
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
better movements
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
strat_utils.c
diff --git
a/projects/microb2010/mainboard/strat_utils.c
b/projects/microb2010/mainboard/strat_utils.c
index
708f08a
..
41def2c
100644
(file)
--- a/
projects/microb2010/mainboard/strat_utils.c
+++ b/
projects/microb2010/mainboard/strat_utils.c
@@
-1,6
+1,6
@@
-/*
+/*
* Copyright Droids Corporation, Microb Technology (2009)
* Copyright Droids Corporation, Microb Technology (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
* 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
@@
-75,7
+75,7
@@
int16_t distance_from_robot(int16_t x, int16_t y)
position_get_y_s16(&mainboard.pos), x, y);
}
position_get_y_s16(&mainboard.pos), x, y);
}
-/** do a modulo 360 -> [-180,+180], knowing that 'a' is in [-3*180,+3*180] */
+/** do a modulo 360 -> [-180,+180], knowing that 'a' is in [-3*180,+3*180] */
int16_t simple_modulo_360(int16_t a)
{
if (a < -180) {
int16_t simple_modulo_360(int16_t a)
{
if (a < -180) {
@@
-93,10
+93,10
@@
int16_t angle_abs_to_rel(int16_t a_abs)
return simple_modulo_360(a_abs - position_get_a_deg_s16(&mainboard.pos));
}
return simple_modulo_360(a_abs - position_get_a_deg_s16(&mainboard.pos));
}
-void rel_da_to_abs_xy(double d_rel, double a_rel_rad,
+void rel_da_to_abs_xy(double d_rel, double a_rel_rad,
double *x_abs, double *y_abs)
{
double *x_abs, double *y_abs)
{
- double x = position_get_x_double(&mainboard.pos);
+ double x = position_get_x_double(&mainboard.pos);
double y = position_get_y_double(&mainboard.pos);
double a = position_get_a_rad_double(&mainboard.pos);
double y = position_get_y_double(&mainboard.pos);
double a = position_get_a_rad_double(&mainboard.pos);
@@
-109,7
+109,7
@@
double norm(double x, double y)
return sqrt(x*x + y*y);
}
return sqrt(x*x + y*y);
}
-void rel_xy_to_abs_xy(double x_rel, double y_rel,
+void rel_xy_to_abs_xy(double x_rel, double y_rel,
double *x_abs, double *y_abs)
{
double d_rel, a_rel;
double *x_abs, double *y_abs)
{
double d_rel, a_rel;
@@
-119,13
+119,13
@@
void rel_xy_to_abs_xy(double x_rel, double y_rel,
}
/* return an angle between -pi and pi */
}
/* return an angle between -pi and pi */
-void abs_xy_to_rel_da(double x_abs, double y_abs,
+void abs_xy_to_rel_da(double x_abs, double y_abs,
double *d_rel, double *a_rel_rad)
{
double *d_rel, double *a_rel_rad)
{
- double x = position_get_x_double(&mainboard.pos);
+ double x = position_get_x_double(&mainboard.pos);
double y = position_get_y_double(&mainboard.pos);
double a = position_get_a_rad_double(&mainboard.pos);
double y = position_get_y_double(&mainboard.pos);
double a = position_get_a_rad_double(&mainboard.pos);
-
+
*a_rel_rad = atan2(y_abs - y, x_abs - x) - a;
if (*a_rel_rad < -M_PI) {
*a_rel_rad += M_2PI;
*a_rel_rad = atan2(y_abs - y, x_abs - x) - a;
if (*a_rel_rad < -M_PI) {
*a_rel_rad += M_2PI;
@@
-139,7
+139,7
@@
void abs_xy_to_rel_da(double x_abs, double y_abs,
void rotate(double *x, double *y, double rot)
{
double l, a;
void rotate(double *x, double *y, double rot)
{
double l, a;
-
+
l = norm(*x, *y);
a = atan2(*y, *x);
l = norm(*x, *y);
a = atan2(*y, *x);
@@
-176,7
+176,7
@@
uint8_t robot_is_in_area(int16_t margin)
uint8_t y_is_more_than(int16_t y)
{
int16_t posy;
uint8_t y_is_more_than(int16_t y)
{
int16_t posy;
-
+
posy = position_get_y_s16(&mainboard.pos);
if (mainboard.our_color == I2C_COLOR_YELLOW) {
if (posy > y)
posy = position_get_y_s16(&mainboard.pos);
if (mainboard.our_color == I2C_COLOR_YELLOW) {
if (posy > y)
@@
-197,7
+197,7
@@
uint8_t y_is_more_than(int16_t y)
uint8_t x_is_more_than(int16_t x)
{
int16_t posx;
uint8_t x_is_more_than(int16_t x)
{
int16_t posx;
-
+
posx = position_get_x_s16(&mainboard.pos);
if (posx > x)
return 1;
posx = position_get_x_s16(&mainboard.pos);
if (posx > x)
return 1;
@@
-228,15
+228,15
@@
int16_t sin_table[] = {
int16_t fast_sin(int16_t deg)
{
deg %= 360;
int16_t fast_sin(int16_t deg)
{
deg %= 360;
-
+
if (deg < 0)
deg += 360;
if (deg < 0)
deg += 360;
- if (deg < 90)
+ if (deg < 90)
return sin_table[(deg*16)/90];
return sin_table[(deg*16)/90];
- else if (deg < 180)
+ else if (deg < 180)
return sin_table[((180-deg)*16)/90];
return sin_table[((180-deg)*16)/90];
- else if (deg < 270)
+ else if (deg < 270)
return -sin_table[((deg-180)*16)/90];
else
return -sin_table[((360-deg)*16)/90];
return -sin_table[((deg-180)*16)/90];
else
return -sin_table[((360-deg)*16)/90];
@@
-318,3
+318,13
@@
uint8_t opponent_is_behind(void)
/* return 1; */
return 0;
}
/* return 1; */
return 0;
}
+
+uint8_t get_ball_count(void)
+{
+ return ballboard.ball_count;
+}
+
+uint8_t get_cob_count(void)
+{
+ return cobboard.cob_count;
+}