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optimize xy->corn
[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
c5f0523
..
e64871e
100644
(file)
--- a/
projects/microb2010/mainboard/strat_corn.c
+++ b/
projects/microb2010/mainboard/strat_corn.c
@@
-168,17
+168,15
@@
static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
return 1;
}
return 1;
}
-/* if (time_get_s() > 32) */
-/* DEBUG(E_USER_STRAT, "i,j = (%d %d), count=%d", i, j, */
-/* corn_count_neigh(i, j)); */
-
if (corn_count_neigh(i, j) == 2)
return 1;
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))
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 */
/* we can ge fast if it's a 60deg angle and if we checked the
* current point */