From ea510fb8e596e287116200553d058e41ce72c2ab Mon Sep 17 00:00:00 2001
From: Unknown <pfguenette@gmail.com>
Date: Sat, 15 Sep 2018 23:08:40 -0400
Subject: [PATCH] Revert "Support overshoot moves"

This reverts commit 0ea6a5a37bea707ef8e954b80f35176b5add3e4d.
---
 Firmware/MotorControl/trapTraj.cpp | 19 ++-----------------
 1 file changed, 2 insertions(+), 17 deletions(-)

diff --git a/Firmware/MotorControl/trapTraj.cpp b/Firmware/MotorControl/trapTraj.cpp
index 67e0aa6f..0c5f3f35 100644
--- a/Firmware/MotorControl/trapTraj.cpp
+++ b/Firmware/MotorControl/trapTraj.cpp
@@ -58,6 +58,7 @@ float TrapezoidalTrajectory::planTrapezoidal(float Xf, float Xi,
     }
 
     // Populate object's values
+
     Xf_ = Xf;
     Xi_ = Xi;
     Vi_ = Vi;
@@ -73,23 +74,7 @@ float TrapezoidalTrajectory::planTrapezoidal(float Xf, float Xi,
     yAccel_ = (Ar * Ta * Ta) / 2.0f + (Vi * Ta) + Xi;
     Tav_ = Ta + Tv;
 
-    // If it's an overshoot trajectory, we need to re-do our process
-    // to generate the second-half of the trajectory
-    if (fabs(dX) <= dx_stop) {
-        TrapTrajStep_t traj;
-        traj = evalTrapTraj(Td_);
-        planTrapezoidal(Xf, traj.Y, traj.Yd, Vmax, Amax, Dmax);
-
-        // Fix initial points
-        Xi_ = Xi;
-        Vi_ = Vi;
-
-        // Fix time points
-        Ta_ += Td;
-        yAccel_ = (Ar_ * Ta_ * Ta_) / 2.0f + (Vi_ * Ta_) + Xi_;
-        Tav_ = Ta_ + Tv_;
-    }
-    return Ta_ + Tv_ + Td_;
+    return Ta + Tv + Td;
 }
 
 TrapTrajStep_t TrapezoidalTrajectory::evalTrapTraj(float t) {