vt100: include pgmspace.h as we use PROGMEM macro

[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 77c9a51..8abef5b 100644 (file)
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -70,7 +70,8 @@
 static volatile uint8_t clitoid_slow = 0;
 
 /* return 1 if there is a corn near, and fill the index ptr */
-int8_t corn_is_near(uint8_t *corn_idx, uint8_t side)
+int8_t corn_is_near(uint8_t *corn_idx, uint8_t side,
+                   int16_t *xspickle, int16_t *yspickle)
 {
        /* XXX to be checked */
 #define SENSOR_CORN_DIST  225
@@ -92,6 +93,8 @@ int8_t corn_is_near(uint8_t *corn_idx, uint8_t side)
        }
        x_corn_int = x_corn;
        y_corn_int = y_corn;
+       *xspickle = x_corn_int;
+       *yspickle = y_corn_int;
 
        wp = xycoord_to_corn_idx(&x_corn_int, &y_corn_int);
        if (wp == NULL)
@@ -162,7 +165,7 @@ 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;
@@ -171,10 +174,12 @@ static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
        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 */
@@ -298,7 +303,7 @@ static int8_t strat_calc_clitoid(uint8_t num1, uint8_t dir1,
                }
                else {
                        beta_deg = 0;
-                       *pack_spickles = I2C_RIGHT_SIDE;
+                       *pack_spickles = I2C_LEFT_SIDE;
                }
        }
        /* double 90 deg for half turn -- not used */