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cobboard: better actions + i2c
[aversive.git]
/
projects
/
microb2010
/
tests
/
test_board2008
/
cs.c
diff --git
a/projects/microb2010/tests/test_board2008/cs.c
b/projects/microb2010/tests/test_board2008/cs.c
index
9736646
..
c2409a1
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/cs.c
+++ b/
projects/microb2010/tests/test_board2008/cs.c
@@
-31,7
+31,7
@@
#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <adc.h>
#include <pid.h>
#include <adc.h>
#include <pid.h>
@@
-99,15
+99,16
@@
static void do_cs(void *dummy)
cs_manage(&mainboard.angle.cs);
if (mainboard.distance.on)
cs_manage(&mainboard.distance.cs);
cs_manage(&mainboard.angle.cs);
if (mainboard.distance.on)
cs_manage(&mainboard.distance.cs);
- if (mainboard.fessor.on)
+ if (mainboard.fessor.on)
{
cs_manage(&mainboard.fessor.cs);
cs_manage(&mainboard.fessor.cs);
+ fessor_manage();
+ }
if (mainboard.wheel.on)
cs_manage(&mainboard.wheel.cs);
if (mainboard.wheel.on)
cs_manage(&mainboard.wheel.cs);
- if (mainboard.elevator.on)
+ if (mainboard.elevator.on)
{
cs_manage(&mainboard.elevator.cs);
cs_manage(&mainboard.elevator.cs);
-
- fessor_manage();
- elevator_manage();
+ elevator_manage();
+ }
}
if ((cpt & 1) && (mainboard.flags & DO_POS)) {
/* about 1.5ms (worst case without centrifugal force
}
if ((cpt & 1) && (mainboard.flags & DO_POS)) {
/* about 1.5ms (worst case without centrifugal force
@@
-305,7
+306,7
@@
void microb_cs_init(void)
mainboard.angle.on = 0;
mainboard.distance.on = 0;
mainboard.fessor.on = 1;
mainboard.angle.on = 0;
mainboard.distance.on = 0;
mainboard.fessor.on = 1;
- mainboard.elevator.on =
1
;
+ mainboard.elevator.on =
0
;
mainboard.wheel.on = 1;
mainboard.flags |= DO_CS;
mainboard.wheel.on = 1;
mainboard.flags |= DO_CS;