X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_corn.c;h=f8cafbca8329c7864c93add50b416ad5f567e0ea;hp=7fa64c4ed086ec98661160d9276bf26235688252;hb=aa68be2d5d596693bda1109e4ccd6489f613b4f7;hpb=d776dc0dab6dd3ddf92041f1ad42e521847ea9cf

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 7fa64c4..f8cafbc 100644
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -69,6 +69,7 @@
 /* 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)
 {
+	/* XXX to be checked */
 #define SENSOR_CORN_DIST  225
 #define SENSOR_CORN_ANGLE 90
 	double x = position_get_x_double(&mainboard.pos);
@@ -218,9 +219,11 @@ 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;