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

diff --git a/projects/microb2010/mainboard/strat_corn.h b/projects/microb2010/mainboard/strat_corn.h
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+++ b/projects/microb2010/mainboard/strat_corn.h
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+/*
+ *  Copyright Droids, Microb Technology (2010)
+ *
+ *  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
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
+ *
+ *  Olivier MATZ <zer0@droids-corp.org>
+ */
+
+#define CORN_NB 18
+
+/* enum is better */
+#define TYPE_WAYPOINT 0
+#define TYPE_DANGEROUS 1
+#define TYPE_WHITE_CORN 2
+#define TYPE_BLACK_CORN 3
+#define TYPE_OBSTACLE 4
+
+extern uint8_t corn_table[CORN_NB];
+
+int8_t ijcoord_to_corn_idx(int8_t i, int8_t j);
+int8_t xycoord_to_corn_idx(int16_t *x, int16_t *y);
+void init_corn_table(int8_t conf_side, int8_t conf_center);