X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_corn.c;h=db672bf67f1e3bb2271e8ff245f74bb844124205;hb=5573d7668c4fe0cde51b566d086582cf3d9c7e4b;hp=48eff29a45efc24b2f7cf9131d913ac75bb3c2c6;hpb=a3ec2f79a4ed7b2148ede881e0685ddb6f141d82;p=aversive.git

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 48eff29..db672bf 100644
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -162,23 +162,21 @@ static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
 	if (get_cob_count() >= 5)
 		return 0; /* fast */
 
-	if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+	if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
 		DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
 		      __FUNCTION__, x, y);
 		return 1;
 	}
 
-/* 	if (time_get_s() > 32) */
-/* 		DEBUG(E_USER_STRAT, "i,j = (%d %d), count=%d", i, j, */
-/* 		      corn_count_neigh(i, j)); */
-
 	if (corn_count_neigh(i, j) == 2)
 		return 1;
 
-	/* we are on intersection, let's go slow... but as we enter in
-	 * the curve-part of the clitoid, we should not go there */
+
+	/* we are on intersection, keep the same speed... but as we
+	 * enter in the curve-part of the clitoid, we should not go
+	 * there */
 	if (wp_belongs_to_line(i, j, num2, dir2))
-		return 0;
+		return clitoid_slow;
 
 	/* we can ge fast if it's a 60deg angle and if we checked the
 	 * current point */
@@ -332,7 +330,6 @@ static int8_t strat_calc_clitoid(uint8_t num1, uint8_t dir1,
 		strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 	}
 
-	/* XXX check return value !! */
 	ret = trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
 				 line1_a_deg, 150., diff_a_deg, beta_deg,
 				 radius, xy_norm(l1.p1.x, l1.p1.y,
@@ -350,8 +347,10 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
 
  reprocess:
 	ret = strat_calc_clitoid(num1, dir1, num2, dir2, &pack_spickles);
-	if (ret < 0)
+	if (ret < 0) {
 		DEBUG(E_USER_STRAT, "clitoid failed");
+		return END_ERROR;
+	}
 
 	/* XXX what to do if cobboard is stucked */
 
@@ -360,8 +359,13 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
 						     num2, dir2),
 				    flags);
 
+	/* error during traj, or traj finished */
+	if (err != 0)
+		return err;
+
 	/* the speed has to change */
-	if (trajectory_get_state(&mainboard.traj) != RUNNING_CLITOID_CURVE)
+	if (err == 0 &&
+	    trajectory_get_state(&mainboard.traj) != RUNNING_CLITOID_CURVE)
 		goto reprocess;
 
 	DEBUG(E_USER_STRAT, "clitoid started err=%d pack_spickles=%d",
@@ -379,13 +383,7 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
 		err = wait_traj_end(flags);
 	}
 
-	DEBUG(E_USER_STRAT, "clitoid finished");
-
-	/* XXX 600 -> cste */
-	/* XXX does not work, do better */
-/* 	if (err == 0 && d_speed < 600 && */
-/* 	    mainboard.traj.state == RUNNING_CLITOID_LINE) */
-/* 		strat_set_speed(600, SPEED_ANGLE_FAST); */
+	DEBUG(E_USER_STRAT, "clitoid finished, err=%d", err);
 
 	strat_rpack60 = 0;
 	strat_lpack60 = 0;