X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_avoid.h;fp=projects%2Fmicrob2010%2Fmainboard%2Fstrat_avoid.h;h=d7ac4ac025f3b837b2e2d1155d6c92b6f6bb8ecf;hp=4afe0320bff98737701a549473590cd2e4f8e12d;hb=876789a372da2e93a816428649e511c2ad9e40be;hpb=4abb0bf96078e303a8f43a0ba020a1801b908ae4

diff --git a/projects/microb2010/mainboard/strat_avoid.h b/projects/microb2010/mainboard/strat_avoid.h
index 4afe032..d7ac4ac 100644
--- a/projects/microb2010/mainboard/strat_avoid.h
+++ b/projects/microb2010/mainboard/strat_avoid.h
@@ -42,6 +42,18 @@ int8_t browse_circuits(uint8_t i, uint8_t j,
 /* harvest on the best circuit */
 uint8_t strat_harvest_circuit(void);
 
+/* get the neighbour of the point at specified dir, return -1 if
+ * there is no neighbor */
+int8_t wp_get_neigh(uint8_t i, uint8_t j, uint8_t *ni, uint8_t *nj,
+		 uint8_t dir);
+
+/* count the number of non-black corns which are neighbors of
+ * specified cob */
+uint8_t corn_count_neigh(uint8_t i, uint8_t j);
+
+/* return true if a waypoint belongs to a line */
+uint8_t wp_belongs_to_line(uint8_t i, uint8_t j, uint8_t linenum, uint8_t dir);
+
 void test_strat_avoid(void);
 
 #endif