fix display and support beacon in robotsim

[aversive.git] / projects / microb2010 / mainboard / strat_corn.c

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 48eff29..74dd8d1 100644 (file)
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -315,7 +315,7 @@ static int8_t strat_calc_clitoid(uint8_t num1, uint8_t dir1,
        }
        /* hard turn, 120 deg */
        else {
-               radius = 75;
+               radius = 120;//75;
                if (diff_a_deg > 0)
                        beta_deg = 0;
                else
@@ -381,12 +381,6 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
 
        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); */
-
        strat_rpack60 = 0;
        strat_lpack60 = 0;
        return err;