avant la coupe de belgique

[aversive.git] / modules / devices / robot / trajectory_manager / trajectory_manager_core.c

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index c6c70fc..18f5c90 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -1007,10 +1007,10 @@ static void start_clitoid(struct trajectory *traj)
        delete_event(traj);
        DEBUG(E_TRAJECTORY, "%s() Va=%2.2f Aa=%2.2f",
              __FUNCTION__, Va, Aa);
-       traj->state = RUNNING_CLITOID_CURVE;
        d = fabs(R_mm * a_rad);
        d *= 3.; /* margin to avoid deceleration */
        trajectory_d_a_rel(traj, d, DEG(a_rad));
+       traj->state = RUNNING_CLITOID_CURVE;
        set_quadramp_acc(traj, traj->d_acc, Aa);
        set_quadramp_speed(traj, traj->d_speed, Va);
 }