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update and reliabilize strats
[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
1f19904
..
35803ac
100644
(file)
--- a/
projects/microb2010/mainboard/strat_utils.c
+++ b/
projects/microb2010/mainboard/strat_utils.c
@@
-68,6
+68,17
@@
int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2)
return sqrt(x+y);
}
return sqrt(x+y);
}
+/* return the distance between two points */
+int32_t quad_distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2)
+{
+ int32_t x,y;
+ x = (x2-x1);
+ x = x*x;
+ y = (y2-y1);
+ y = y*y;
+ return x+y;
+}
+
/* return the distance to a point in the area */
int16_t distance_from_robot(int16_t x, int16_t y)
{
/* return the distance to a point in the area */
int16_t distance_from_robot(int16_t x, int16_t y)
{