allow to harvest in nomove mode

[aversive.git] / projects / microb2010 / cobboard / state.c

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index e315da0..cbbc829 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -338,12 +338,10 @@ void state_machine(void)
                /* harvest */
                if (cob_count < 5) {
                        if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
-                           state_spicklemode_autoharvest(I2C_LEFT_SIDE) &&
-                           !state_spicklemode_nomove(I2C_LEFT_SIDE))
+                           state_spicklemode_autoharvest(I2C_LEFT_SIDE))
                                state_do_harvest(I2C_LEFT_SIDE);
                        if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
-                           state_spicklemode_autoharvest(I2C_RIGHT_SIDE) &&
-                           !state_spicklemode_nomove(I2C_RIGHT_SIDE))
+                           state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
                                state_do_harvest(I2C_RIGHT_SIDE);
                }