+bool check_bot_position_across(int x_0, int y_0, bitmap_dim bitmap_across[], int angle){
+
+ angle=(angle % 360);
+
+// printf("angle_across %d", angle);
+ angle=(angle/45)/2;
+// printf(" -> %d\n", angle);
+
+ int x,q,y,x_min,x_max,q_min,q_max,i;
+ int x_step=0;
+
+ q_max=y_0+bitmap_across[angle].y_max-bitmap_across[angle].x_min;
+ q_min=y_0-bitmap_across[angle].y_min-bitmap_across[angle].x_min;
+ x_min=x_0-bitmap_across[angle].y_max-bitmap_across[angle].x_min;
+ x_max=x_0-bitmap_across[angle].y_max+bitmap_across[angle].x_max;
+
+// printf("x0, y0 -> %d, %d\n", x_0,y_0);
+// printf("qmin, qmax -> %d, %d\n", q_min,q_max);
+// printf("xmin, xmax -> %d, %d\n", x_min,x_max);
+
+ for(i=0;i<=1;i++){
+ for(q=q_max; q>=q_min;q--){
+ y=q;
+ for(x=x_min+x_step; x<=x_max+x_step;x++){