update and reliabilize strats

[aversive.git] / projects / microb2010 / mainboard / strat_utils.h

diff --git a/projects/microb2010/mainboard/strat_utils.h b/projects/microb2010/mainboard/strat_utils.h
index 49b58b0c69fd61929f6e40ca7c34f197fde85cc7..f314b0eec4798c7eb19ec5f169786f9763193281 100644 (file)
--- a/projects/microb2010/mainboard/strat_utils.h
+++ b/projects/microb2010/mainboard/strat_utils.h
@@ -33,10 +33,17 @@ struct xy_point {
                while ( (! (cond)) && (__err == 0)) {                   \
                        __err = test_traj_end(mask);                    \
                }                                                       \
                while ( (! (cond)) && (__err == 0)) {                   \
                        __err = test_traj_end(mask);                    \
                }                                                       \

+               if (!__err)                                             \
+                       DEBUG(E_USER_STRAT, "cond is true at line %d",  \
+                             __LINE__);                                \
+               else                                                    \
+                       DEBUG(E_USER_STRAT, "got %s at line %d",        \
+                             get_err(__err), __LINE__);                \

                __err;                                                  \
        })                                                              \
 
 int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
                __err;                                                  \
        })                                                              \
 
 int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);

+int32_t quad_distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);

 int16_t distance_from_robot(int16_t x, int16_t y);
 int16_t simple_modulo_360(int16_t a);
 int16_t angle_abs_to_rel(int16_t a_abs);
 int16_t distance_from_robot(int16_t x, int16_t y);
 int16_t simple_modulo_360(int16_t a);
 int16_t angle_abs_to_rel(int16_t a_abs);