#include "sensor.h"
#include "actuator.h"
-#if 0
/* return 1 if there is a corn near, and fill the index ptr */
-uint8_t corn_is_near(int8_t *corn_idx, uint8_t side)
+int8_t corn_is_near(uint8_t *corn_idx, uint8_t side)
{
#define SENSOR_CORN_DIST 225
#define SENSOR_CORN_ANGLE 90
y_corn_int = y_corn;
wp = xycoord_to_corn_idx(&x_corn_int, &y_corn_int);
- if (wp->corn.idx < 0)
+ if (wp == NULL)
return 0;
+ *corn_idx = wp->corn.idx;
return 1;
}
-#endif
/*
* - send the correct commands to the spickles
strat_get_speed(&d_speed, &a_speed);
/* XXX 600 -> cste */
- if (err == 0 && d_speed < 600 &&
- mainboard.traj.state == RUNNING_CLITOID_LINE)
- strat_set_speed(600, SPEED_ANGLE_FAST);
+ /* 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); */
+
err = wait_traj_end(0xFF);
return err;