/***************************************************************************
 *                                                                         *
 *   Spherical Map header for Nomad 200                                    *
 *   Written By : Brian Hand, Stephen Hutchins, and Simon Evelyn           *
 *   Changes by J.Zytkow                                                   *
 ***************************************************************************/

/* The mapcode generates and maintains a scrollable (spherical) array.     */
/* In the current implementation it is a square array                      */
/* of the linear size map_size.  Each cell corresponds to a fixed square   */
/* of the size map_cell_size.  Each cell in the array stores the count     */
/* of occurrences of a sonar signal that comes from the location that      */
/* corresponds to that cell.                                               */
/* Nomad's coordinates in the map are: nomad_map_x and nomad_map_y         */
/* nomad_map_x and nomad_map_y change as the robot moves and likewise move */
/* the boundaries that distinguish cells behind and in front of nomad.     */


/* preprocessor statements */
#include "Nclient.h"       /* for Nomad functions */
#define MOTORSON          /* according to Brian: even if defined in */
                          /* client.h problems appear if not repeated here */
#define map_size 51       /* the linear size of the map array (square)     */

/* prototypes for functions used in this header file */
void map_area();       /* main for the map procedure */
void get_sonar_data();       /* reads the sonar data */
void mapper();         /* map the data is sonar_array */
void print_map();      /* dumps map array to disk file */

extern map[][];        /*scrolled or spherical map */