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authorNicolas Schodet2011-05-31 22:34:26 +0200
committerNicolas Schodet2011-05-31 22:44:18 +0200
commit18a1c04ba9b61d484c745b075bfbaad101629a2c (patch)
tree2731537efd17748237e88892bb9a220384f6a700 /digital
parent546594731c6c7d2727382154a991a564b8b8d6da (diff)
digital/io-hub: add green zone width define
Diffstat (limited to 'digital')
-rw-r--r--digital/io-hub/src/robospierre/path.c6
-rw-r--r--digital/io-hub/src/robospierre/playground_2011.h33
-rw-r--r--digital/io-hub/src/robospierre/top.c4
3 files changed, 38 insertions, 5 deletions
diff --git a/digital/io-hub/src/robospierre/path.c b/digital/io-hub/src/robospierre/path.c
index bf6c2471..61ea9293 100644
--- a/digital/io-hub/src/robospierre/path.c
+++ b/digital/io-hub/src/robospierre/path.c
@@ -26,7 +26,7 @@
#include "defs.h"
#include "path.h"
#include "bot.h"
-#include "playground.h"
+#include "playground_2011.h"
#include "modules/path/astar/astar.h"
#include "modules/utils/utils.h"
@@ -213,8 +213,8 @@ path_blocking (uint8_t a, uint8_t b, int16_t *dp)
path_pos (b, &vb);
/* Test for green zone. */
uint8_t a_green, b_green;
- a_green = va.x < 400 || va.x > PG_WIDTH - 400;
- b_green = vb.x < 400 || vb.x > PG_WIDTH - 400;
+ a_green = va.x < PG_GREEN_WIDTH_MM || va.x > PG_WIDTH - PG_GREEN_WIDTH_MM;
+ b_green = vb.x < PG_GREEN_WIDTH_MM || vb.x > PG_WIDTH - PG_GREEN_WIDTH_MM;
if ((va.x < BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM
&& vb.x > BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM)
|| (va.x > BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM
diff --git a/digital/io-hub/src/robospierre/playground_2011.h b/digital/io-hub/src/robospierre/playground_2011.h
new file mode 100644
index 00000000..a9963e34
--- /dev/null
+++ b/digital/io-hub/src/robospierre/playground_2011.h
@@ -0,0 +1,33 @@
+#ifndef playground_2011_h
+#define playground_2011_h
+/* playground_2011.h */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 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 "playground.h"
+
+/** Width of a green zone. */
+#define PG_GREEN_WIDTH_MM 400
+
+#endif /* playground_2011_h */
diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c
index 92e42b1c..5756d38e 100644
--- a/digital/io-hub/src/robospierre/top.c
+++ b/digital/io-hub/src/robospierre/top.c
@@ -24,7 +24,7 @@
* }}} */
#include "common.h"
-#include "playground.h"
+#include "playground_2011.h"
#include "asserv.h"
#define FSM_NAME AI
@@ -69,7 +69,7 @@ struct top_t top_global;
FSM_TRANS (TOP_START, init_start_round, TOP_GOING_OUT1)
{
element_init ();
- asserv_goto (PG_X (400 + 100), PG_Y (PG_LENGTH - 200), 0);
+ asserv_goto (PG_X (PG_GREEN_WIDTH_MM + 100), PG_Y (PG_LENGTH - 200), 0);
return FSM_NEXT (TOP_START, init_start_round);
}