X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_corn.c;h=8abef5bec7fed22cd8c3c191c53d9b399a52714b;hp=77c9a51904e002ed48d23d9a21b76958ec02e09d;hb=HEAD;hpb=8933c04126fa2885cdcc255271632bd4a5a51afe

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 77c9a51..8abef5b 100644
--- 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 */