#include <uart.h>
#include <pwm_ng.h>
-#include <time.h>
+#include <clock_time.h>
#include <pid.h>
#include <quadramp.h>
return a;
}
-/** do a modulo 2.pi -> [-Pi,+Pi], knowing that 'a' is in [-3Pi,+3Pi] */
-double simple_modulo_2pi(double a)
-{
- if (a < -M_PI) {
- a += M_2PI;
- }
- else if (a > M_PI) {
- a -= M_2PI;
- }
- return a;
-}
+/* /\** do a modulo 2.pi -> [-Pi,+Pi], knowing that 'a' is in [-3Pi,+3Pi] *\/ */
+/* double simple_modulo_2pi(double a) */
+/* { */
+/* if (a < -M_PI) { */
+/* a += M_2PI; */
+/* } */
+/* else if (a > M_PI) { */
+/* a -= M_2PI; */
+/* } */
+/* return a; */
+/* } */
/* return the distance to a point in the area */
int16_t angle_abs_to_rel(int16_t a_abs)
/* } */
/* /\* return 1 or 0 depending on which side of a line (y=cste) is the */
-/* * robot. works in red or green color. *\/ */
+/* * robot. works in yellow or blue color. *\/ */
/* 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_RED) { */
+/* if (mainboard.our_color == I2C_COLOR_YELLOW) { */
/* if (posy > y) */
/* return 1; */
/* else */
/* } */
/* return 1 or 0 depending on which side of a line (x=cste) is the
- * robot. works in red or green color. */
+ * robot. works in yellow or blue color. */
uint8_t x_is_more_than(int16_t x)
{
int16_t posx;
/* /\* get the color of the opponent robot *\/ */
/* uint8_t get_opponent_color(void) */
/* { */
-/* if (mainboard.our_color == I2C_COLOR_RED) */
-/* return I2C_COLOR_GREEN; */
+/* if (mainboard.our_color == I2C_COLOR_YELLOW) */
+/* return I2C_COLOR_BLUE; */
/* else */
-/* return I2C_COLOR_RED; */
+/* return I2C_COLOR_YELLOW; */
/* } */
/* /\* get the xy pos of the opponent robot *\/ */