From dc2e04e314af4fcbbbb43e8fa2729d4945c90f8b Mon Sep 17 00:00:00 2001 From: Thomas Klaehn Date: Wed, 21 Sep 2016 09:57:13 +0200 Subject: [PATCH] error correction --- source/application/system_state.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/source/application/system_state.c b/source/application/system_state.c index 7bba581..f5532ef 100644 --- a/source/application/system_state.c +++ b/source/application/system_state.c @@ -137,7 +137,7 @@ static enum system_state handle_state_collision_drive_back(void) system_state_object.collision_timer.running = true; } if(system_state_object.collision_timer.running && - (system_state_object.collision_timer.tick > sys_tick_get_ms())) { + (system_state_object.collision_timer.tick < sys_tick_get_ms())) { drive_ctrl_halt(); next_state = SYS_COLLISION_TURN; system_state_object.collision_timer.running = false; @@ -159,7 +159,7 @@ static enum system_state handle_state_collision_turn(void) shell_write(print_buffer, strlen(print_buffer)); drv_open(&rng); // random number between 500 and 4000 - int sleep = drv_read(&rng, NULL, 0) % 3500 + 500; + unsigned int sleep = (unsigned int)drv_read(&rng, NULL, 0) % 3500 + 500; system_state_object.collision_timer.tick = sys_tick_get_ms() + sleep; system_state_object.collision_timer.running = true; // randomize turn direction @@ -169,7 +169,7 @@ static enum system_state handle_state_collision_turn(void) drive_ctrl_turn_right(); } if(system_state_object.collision_timer.running && - (system_state_object.collision_timer.tick > sys_tick_get_ms())) { + (system_state_object.collision_timer.tick < sys_tick_get_ms())) { drive_ctrl_halt(); next_state = system_state_object.saved_state; system_state_object.collision_timer.running = false;