1 files changed, 14 insertions, 78 deletions
diff --git a/robot/mode_grid.h b/robot/mode_grid.h
index b13cc4c..c8e649f 100644
--- a/robot/mode_grid.h
+++ b/robot/mode_grid.h
@@ -7,87 +7,23 @@
  *
  * processes orders from the order buffer
  */
+void w2_mode_grid();
 
-enum orientation{
-    North,
-    East,
-    South,
-    West
-} direction;
-
-typedef struct {
-    int x;
-    int y;
-} coordinates;
-
-coordinates order[4];
-coordinates location;
-coordinates destination;
-
-char xLocation;
-char yLocation;
-
-//LINE 25-68 CAN BE TAKEN AWAY WHEN USED WITH MODE_MAZE
-
-// The 3pi include file must be at the beginning of any program that
-// uses the Pololu AVR library and 3pi.
-#include <pololu/3pi.h>
-
-// This include file allows data to be stored in program space.  The
-// ATmega168 has 16k of program space compared to 1k of RAM, so large
-// pieces of static data should be stored in program space.
-#include <avr/pgmspace.h>
+void w2_crosswalk_detection();
 
-unsigned int sensors[5]; // an array to hold sensor values
-unsigned int position;
-// Introductory messages.  The "PROGMEM" identifier causes the data to
-// go into program space.
-const char welcome_line1[] PROGMEM = " Pololu";
-const char welcome_line2[] PROGMEM = "3\xf7 Robot";
-const char demo_name_line1[] PROGMEM = "PID Line";
-const char demo_name_line2[] PROGMEM = "follower";
+typedef enum {
+	W2_ORT_NORTH,
+	W2_ORT_EAST,
+	W2_ORT_SOUTH,
+	W2_ORT_WEST
+} w2_e_orientation;
 
-// A couple of simple tunes, stored in program space.
-const char welcome[] PROGMEM = ">g32>>c32";
-const char go[] PROGMEM = "L16 cdegreg4";
+// enum w2_e_section { mazeMode, gridMode, chargeMode } g_w2_parcour_mode;
 
-// Data for generating the characters used in load_custom_characters
-// and display_readings.  By reading levels[] starting at various
-// offsets, we can generate all of the 7 extra characters needed for a
-// bargraph.  This is also stored in program space.
-const char levels[] PROGMEM = {
-    0b00000,
-    0b00000,
-    0b00000,
-    0b00000,
-    0b00000,
-    0b00000,
-    0b00000,
-    0b11111,
-    0b11111,
-    0b11111,
-    0b11111,
-    0b11111,
-    0b11111,
-    0b11111
-};
+typedef struct {
+	int x;
+	int y;
+} w2_s_grid_coordinate;
 
-void w2_mode_grid();
-void initialize();
-void full_rotation();
-void grid_rotation_left();
-void grid_rotation_right();
-void grid_crossway_detection();
-void gridFollowLine();
-void orderOne();
-void orderTwo();
-void orderThree();
-void orderFour();
-void beginLocation();
-void turn_North();
-void turn_West();
-void turn_South();
-void turn_East();
-void locationMessage();
-void arrivedMessage();
+extern w2_s_grid_coordinate g_w2_order[4];