cob detection

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

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index ba51434..9fa720a 100644 (file)
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -55,7 +55,7 @@
 #define WAYPOINTS_NBY 8
 
 /*
- * Corn position and lines
+ * Corn position and lines, valid for YELLOW.
  *
  *           vertical lines
  *            O     1     2     3     4     5
@@ -68,7 +68,7 @@
  *     1/  c0                                 c15 \1
  *      |-----+                             +-----|
  *     2/     |                             |     \2
- *      |     |                             |     |
+ *      | Yellow                           Blue   |
  *   0  +-----+-----------------------------+-----+
  *     0                  x                      3000
  *
@@ -83,10 +83,43 @@
  *      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
+ *
  */
 
 /* useful traj flags */