X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_corn.c;h=8f8503ff0d8c2fcedec4be3dc358a4b1864d7f2f;hp=5224787a5976685669d9ff17431d283cc471ba1a;hb=17aadc4c8c3e60c2b5e6bbba91c8542849addbd7;hpb=9d056416278ae5d772a0fc1f7d2d11a4461fb673

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 5224787..8f8503f 100644
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -66,10 +66,10 @@
 #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)
 {
+	/* XXX to be checked */
 #define SENSOR_CORN_DIST  225
 #define SENSOR_CORN_ANGLE 90
 	double x = position_get_x_double(&mainboard.pos);
@@ -91,11 +91,11 @@ 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
@@ -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;
@@ -219,9 +223,11 @@ 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;