irrational unblocking, low speed obstacle bug and spicke pack when y too big

[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 9deba04..1b98929 100644 (file)
--- a/projects/microb2010/mainboard/strat_utils.c
+++ b/projects/microb2010/mainboard/strat_utils.c
@@ -184,11 +184,8 @@ uint8_t robot_is_in_area(int16_t margin)
 
 /* return 1 or 0 depending on which side of a line (y=cste) is the
  * robot. works in yellow or blue color. */
-uint8_t y_is_more_than(int16_t y)
+uint8_t __y_is_more_than(int16_t posy, int16_t y)
 {
-       int16_t posy;
-
-       posy = position_get_y_s16(&mainboard.pos);
        if (mainboard.our_color == I2C_COLOR_YELLOW) {
                if (posy > y)
                        return 1;
@@ -205,17 +202,32 @@ uint8_t y_is_more_than(int16_t y)
 
 /* return 1 or 0 depending on which side of a line (x=cste) is the
  * robot. works in yellow or blue color. */
-uint8_t x_is_more_than(int16_t x)
+uint8_t __x_is_more_than(int16_t posx, int16_t x)
 {
-       int16_t posx;
-
-       posx = position_get_x_s16(&mainboard.pos);
        if (posx > x)
                return 1;
        else
                return 0;
 }
 
+/* return 1 or 0 depending on which side of a line (y=cste) is the
+ * 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);
+       return __y_is_more_than(posy, y);
+}
+
+/* return 1 or 0 depending on which side of a line (x=cste) is the
+ * robot. works in yellow or blue color. */
+uint8_t x_is_more_than(int16_t x)
+{
+       int16_t posx;
+       posx = position_get_x_s16(&mainboard.pos);
+       return __x_is_more_than(posx, x);
+}
+
 int16_t sin_table[] = {
        0,
        3211,