To romP

ROM2/motors.c

@@ -99,29 +99,27 @@ bool left_home(u8 slot) {
 	if (r >= 5) r--; 
 	r = 1 << (r-1);
 	for (i = 0; i < 1000; i++) {
-		if ((home_sensors & r) == 0) return 1;
+		if ((home_sensors & r) != 0) return 1;
 		delay(1);
 	}
 	/* it never left */
 	return 0;
 }
 
-#define is_overcurrent() ((_io_ports[M6811_PORTE] & PORTE_MOTOR_NOT_OVERCURRENT)==0)
-
 bool back_home(u8 slot) {
 	u8 i, r = slot%10;
 	if (r >= 5) r--; 
 	r = 1 << (r-1);
 
 	for (i = 0; i < 5; i++) {
-		if ((home_sensors & r) != 0) return 1;
-		if (is_overcurrent()) return MOTOR_CURRENT_FAIL;
+		if ((home_sensors & r) == 0) return 1;
 	}
 
 	/* it never arrived */
 	return 0;
 }
 
+#define is_overcurrent() ((_io_ports[M6811_PORTE] & PORTE_MOTOR_NOT_OVERCURRENT)==0)
 bool motor_overcurrent() {
 	u8 good_passes = 0, t;
 	for (t = 0; t < 8; t++) {