#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)
{
#define SENSOR_CORN_DIST 225
#define SENSOR_CORN_ANGLE 90
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