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authorschodet2005-04-17 11:09:18 +0000
committerschodet2005-04-17 11:09:18 +0000
commit89151bed20a5d9073bb304057041b2453eec16bb (patch)
treec0309eba15b2f712d2f3a5d3df90b89ea1eb380a /n/asserv/src/goto.c
parent4ed296ad0e59aacc431a400fd09ccd606b5bba4d (diff)
Plein de truc de la pré coupe.
Diffstat (limited to 'n/asserv/src/goto.c')
-rw-r--r--n/asserv/src/goto.c6
1 files changed, 3 insertions, 3 deletions
diff --git a/n/asserv/src/goto.c b/n/asserv/src/goto.c
index 553a4f4..64d1eac 100644
--- a/n/asserv/src/goto.c
+++ b/n/asserv/src/goto.c
@@ -88,7 +88,7 @@ goto_angular_mode (void)
angle_diff <<= 8;
angle_diff >>= 8;
/* Small angles. */
- if (0x10000 > angle_diff && angle_diff < -0x10000)
+ if (0x10000L > angle_diff && angle_diff > -0x10000L)
{
goto_finish = 1;
speed_left = 0;
@@ -182,12 +182,12 @@ goto_ftw_mode (void)
speed_right = 0;
speed_right_aim = 0;
}
- if (!(PINA & (_BV (0) || _BV (7))))
+ if (!(PINA & (_BV (0) | _BV (7))))
goto_finish = 1;
}
/** Update the speed according to the desired destination. */
-static inline void
+static void
goto_update (void)
{
switch (goto_mode)