traj update

[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 5224787..f8a9666 100644 (file)
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -66,9 +66,8 @@
 #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
@@ -91,11 +90,11 @@ uint8_t corn_is_near(int8_t *corn_idx, uint8_t side)
        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
@@ -219,9 +218,10 @@ uint8_t line2line(uint8_t dir1, uint8_t num1,
        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);
+/*     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;