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ballboard: ramp on roller, and maybe fix race on state machine
[aversive.git]
/
projects
/
microb2010
/
tests
/
hostsim
/
main.c
diff --git
a/projects/microb2010/tests/hostsim/main.c
b/projects/microb2010/tests/hostsim/main.c
index
85a31a2
..
d36fa5f
100644
(file)
--- a/
projects/microb2010/tests/hostsim/main.c
+++ b/
projects/microb2010/tests/hostsim/main.c
@@
-28,7
+28,6
@@
\r
#include <timer.h>
\r
#include <scheduler.h>
\r
\r
#include <timer.h>
\r
#include <scheduler.h>
\r
-#include <time.h>
\r
\r
#include <pid.h>
\r
#include <quadramp.h>
\r
\r
#include <pid.h>
\r
#include <quadramp.h>
\r
@@
-42,11
+41,15
@@
#include <rdline.h>
\r
\r
#include <uart.h>
\r
#include <rdline.h>
\r
\r
#include <uart.h>
\r
+#include <clock_time.h>
\r
//#include <timer.h>
\r
#include <hostsim.h>
\r
\r
#include "cs.h"
\r
#include "cmdline.h"
\r
//#include <timer.h>
\r
#include <hostsim.h>
\r
\r
#include "cs.h"
\r
#include "cmdline.h"
\r
+#include "robotsim.h"
\r
+#include "strat.h"
\r
+#include "strat_base.h"
\r
#include "main.h"
\r
\r
struct genboard gen;
\r
#include "main.h"
\r
\r
struct genboard gen;
\r
@@
-74,13
+77,14
@@
int main(void)
#ifdef CONFIG_MODULE_TIMER
\r
timer_init();
\r
#endif
\r
#ifdef CONFIG_MODULE_TIMER
\r
timer_init();
\r
#endif
\r
- scheduler_init();
\r
+
\r
printf("init\n");
\r
\r
printf("init\n");
\r
\r
-#ifdef HOST_VERSION
\r
+ scheduler_init();
\r
+
\r
hostsim_init();
\r
robotsim_init();
\r
hostsim_init();
\r
robotsim_init();
\r
-#endif
\r
+
\r
microb_cs_init();
\r
\r
time_init(TIME_PRIO);
\r
microb_cs_init();
\r
\r
time_init(TIME_PRIO);
\r
@@
-90,15
+94,10
@@
int main(void)
\r
mainboard.flags = DO_ENCODERS | DO_RS |
\r
DO_POS | DO_POWER | DO_BD | DO_CS;
\r
\r
mainboard.flags = DO_ENCODERS | DO_RS |
\r
DO_POS | DO_POWER | DO_BD | DO_CS;
\r
- strat_reset_pos(1000, 1000, 0);
\r
+ strat_reset_pos(1000, 1000,
-9
0);
\r
\r
cmdline_interact();
\r
\r
\r
cmdline_interact();
\r
\r
-/* trajectory_d_rel(&mainboard.traj, 1000); */
\r
-/* time_wait_ms(2000); */
\r
-/* trajectory_circle_rel(&mainboard.traj, 1500, 1000, */
\r
-/* 250, 360, 0); */
\r
-/* time_wait_ms(15000); */
\r
return 0;
\r
}
\r
\r
return 0;
\r
}
\r
\r