X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_corn.c;fp=projects%2Fmicrob2010%2Fmainboard%2Fstrat_corn.c;h=7fa64c4ed086ec98661160d9276bf26235688252;hp=5224787a5976685669d9ff17431d283cc471ba1a;hb=d776dc0dab6dd3ddf92041f1ad42e521847ea9cf;hpb=9d056416278ae5d772a0fc1f7d2d11a4461fb673

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 5224787..7fa64c4 100644
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -66,9 +66,8 @@
 #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
@@ -91,11 +90,11 @@ uint8_t corn_is_near(int8_t *corn_idx, uint8_t side)
 	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