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
}
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)
}
else {
beta_deg = 0;
- *pack_spickles = I2C_RIGHT_SIDE;
+ *pack_spickles = I2C_LEFT_SIDE;
}
}
/* double 90 deg for half turn -- not used */