To romP

diff --git a/ROM2/motors.c b/ROM2/motors.c
index 13316ff..725c93e 100644 (file)
--- a/ROM2/motors.c
+++ b/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++) {