## Revision 1504

Updated comments to correctly reflect the meaning of the x and y
coordinates.

View differences:

main.c
65 65
```	/* Store current BOM readings and use them as a weighting factor */
```
66 66
```	int intensity = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
```
67 67

68
```	/* Arrays for storing the weighted x ("Forwardness") and y ("Rightedness")
```
68
```	/* Arrays for storing the weighted x ("Rightness") and y ("Forwardness")
```
69 69
```	 * components. Calculated by multiplying the intensity by the x and y
```
70
```	 * component respectively (stored in the tables above). */
```
70
```	 * component respectively (x and y components are stored in the tables
```
71
```	 * above). */
```
71 72
```	int weighted_x_comp = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
```
72 73
```	int weighted_y_comp = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
```
73 74
```
```
74
```	/* Accumulators to sum up the net x ("Forwardness") and y ("Rightedness")
```
75
```	/* Accumulators to sum up the net x ("Rightness") and y ("Forwardness")
```
75 76
```	 * components for the entire robot. */
```
76 77
```	long net_x_comp = 0;
```
77 78
```	long net_y_comp = 0;
```
......
102 103

103 104
```		bom_refresh(BOM_ALL);
```
104 105
```		for (i = 0; i < 16; i++) {
```
106
```			/* BOM intensity is actually measured as more intense = closer to 0 */
```
105 107
```			intensity[i] = 255 - bom_get(i);
```
106 108
```			weighted_x_comp[i] = intensity[i] * x_comp[i];
```
107 109
```			weighted_y_comp[i] = intensity[i] * y_comp[i];
```

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