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allow to harvest in nomove mode
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
state.c
diff --git
a/projects/microb2010/cobboard/state.c
b/projects/microb2010/cobboard/state.c
index
e315da0
..
cbbc829
100644
(file)
--- a/
projects/microb2010/cobboard/state.c
+++ b/
projects/microb2010/cobboard/state.c
@@
-338,12
+338,10
@@
void state_machine(void)
/* harvest */
if (cob_count < 5) {
if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
/* harvest */
if (cob_count < 5) {
if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
- state_spicklemode_autoharvest(I2C_LEFT_SIDE) &&
- !state_spicklemode_nomove(I2C_LEFT_SIDE))
+ state_spicklemode_autoharvest(I2C_LEFT_SIDE))
state_do_harvest(I2C_LEFT_SIDE);
if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
state_do_harvest(I2C_LEFT_SIDE);
if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
- state_spicklemode_autoharvest(I2C_RIGHT_SIDE) &&
- !state_spicklemode_nomove(I2C_RIGHT_SIDE))
+ state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
state_do_harvest(I2C_RIGHT_SIDE);
}
state_do_harvest(I2C_RIGHT_SIDE);
}