circuit strat, first version

[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 f8cafbc..8f8503f 100644 (file)
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -131,8 +131,8 @@ static uint8_t handle_spickles(void)
 #endif
 }
 
-uint8_t line2line(uint8_t dir1, uint8_t num1,
-                 uint8_t dir2, uint8_t num2)
+uint8_t line2line(uint8_t num1, uint8_t dir1,
+                 uint8_t num2, uint8_t dir2)
 {
        double line1_a_rad, line1_a_deg, line2_a_rad;
        double diff_a_deg, diff_a_deg_abs, beta_deg;
@@ -142,6 +142,7 @@ uint8_t line2line(uint8_t dir1, uint8_t num1,
        point_t p;
        uint8_t err;
        uint16_t a_speed, d_speed;
+       int8_t ret;
 
        /* convert to 2 points */
        num2line(&l1, dir1, num1);
@@ -197,10 +198,13 @@ uint8_t line2line(uint8_t dir1, uint8_t num1,
        }
 
        /* XXX check return value !! */
-       trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
-                          line1_a_deg, 150., diff_a_deg, beta_deg,
-                          radius, xy_norm(l1.p1.x, l1.p1.y,
-                                          p.x, p.y));
+       ret = trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
+                                line1_a_deg, 150., diff_a_deg, beta_deg,
+                                radius, xy_norm(l1.p1.x, l1.p1.y,
+                                                p.x, p.y));
+       if (ret < 0)
+               DEBUG(E_USER_STRAT, "clitoid failed");
+
        /* disabled */
        if (0) {
                err = 0;