Colony

#ifndef COLLISION_AVOID_H

#define COLLISION_AVOID_H

/* 

 * Map of Intersection:

 *       |D0 |

 *       |   |

 * ______|E X|______  Center 0-3 are Intersection Blocks

 * D1   X 0I1 E   D3

 * _____E 2I3 X_____

 *       |X E|

 *       |   |

 *       |D2 |

 *        

 * Naming scheme:

 * First Letter:

 *         D: Direction

 *         I: Intersection

 * Second Number:

 *         #of Direction or Intersection Block

 * Third Letter: Only applicable for Directions

 *         E for enter direction

 *         X for exit direction

 */

//don't change this ordering unless you're sure it'll work for rotating the intersection

#define D0E 1<<0

#define D0X 1<<4

#define D1E 1<<1

#define D1X 1<<5

#define D2E 1<<2

#define D2X 1<<6

#define D3E 1<<3

#define D3X 1<<7

#define I0 1<<8

#define I1 1<<9

#define I2 1<<11

#define I3 1<<10

/*rotation groups

 * Naming scheme is the same, except instead of numbers in the second field, we have A for any

 * If there is an S at the end, it is a shift value for getting all the bits to be aligned to the LSB.

 */

#define DAE 0x000f

#define DAX 0x00f0

#define DAXS 4

#define IA 0x0f00

#define IAS 8

#endif