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-rw-r--r--digital/io-hub/src/guybrush/radar_defs.c46
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diff --git a/digital/io-hub/src/guybrush/radar_defs.c b/digital/io-hub/src/guybrush/radar_defs.c
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+/* radar_defs.c */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2010 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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.
+ *
+ * }}} */
+#include "common.h"
+#include "radar.h"
+
+#include "modules/devices/usdist/usdist.h"
+#include "playground_2012.h"
+
+/** Define radar configuration. */
+struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB] = {
+ { &usdist_mm[0], { 20, 20 }, G_ANGLE_UF016_DEG (10) },
+ { &usdist_mm[1], { 20, -20 }, G_ANGLE_UF016_DEG (-10) },
+ { &usdist_mm[2], { -20, -20 }, G_ANGLE_UF016_DEG (180 + 10) },
+ { &usdist_mm[3], { -20, 20 }, G_ANGLE_UF016_DEG (180 - 10) },
+};
+
+/** Define exclusion area (considered as invalid point). */
+uint8_t
+radar_valid (vect_t p)
+{
+ return p.x >= RADAR_MARGIN_MM && p.x < PG_WIDTH - RADAR_MARGIN_MM
+ && p.y >= RADAR_MARGIN_MM && p.y < PG_LENGTH - RADAR_MARGIN_MM;
+}
+