X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_corn.c;h=8d3f839cd5e9bb93220485eb4c42e1d419bcca68;hp=5224787a5976685669d9ff17431d283cc471ba1a;hb=38196781643cba8e1d681aafb28cdadc51fe20ec;hpb=9d056416278ae5d772a0fc1f7d2d11a4461fb673

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 5224787..8d3f839 100644
--- 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 +218,11 @@ 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);
+	/* 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;