irrational unblocking, low speed obstacle bug and spicke pack when y too big

[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 db672bf..8abef5b 100644 (file)
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -70,7 +70,8 @@
 static volatile uint8_t clitoid_slow = 0;
 
 /* 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)
+int8_t corn_is_near(uint8_t *corn_idx, uint8_t side,
+                   int16_t *xspickle, int16_t *yspickle)
 {
        /* XXX to be checked */
 #define SENSOR_CORN_DIST  225
@@ -92,6 +93,8 @@ int8_t corn_is_near(uint8_t *corn_idx, uint8_t side)
        }
        x_corn_int = x_corn;
        y_corn_int = y_corn;
+       *xspickle = x_corn_int;
+       *yspickle = y_corn_int;
 
        wp = xycoord_to_corn_idx(&x_corn_int, &y_corn_int);
        if (wp == NULL)
@@ -300,7 +303,7 @@ static int8_t strat_calc_clitoid(uint8_t num1, uint8_t dir1,
                }
                else {
                        beta_deg = 0;
-                       *pack_spickles = I2C_RIGHT_SIDE;
+                       *pack_spickles = I2C_LEFT_SIDE;
                }
        }
        /* double 90 deg for half turn -- not used */