X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager_core.c;fp=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager_core.c;h=18f5c9031f5648f9e0760211851d745a3f401408;hp=c6c70fcd38f76648b810fd44ee884d4ecb4a862f;hb=78150017ab8c5615af414df706a0525fe7c262ae;hpb=b022f257a5ee568737e1a684a83d0154397fffcb

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
--- 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);
 }