error_register_notice(mylog);
error_register_debug(mylog);
- wait_ms(3000);
-
/* SPI + ENCODERS */
encoders_spi_init(); /* this will also init spi hardware */
PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED |
PWM_NG_MODE_SIGN_INVERTED, &PORTD, 4);
- PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
- &PORTD, 5);
+ PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED |
+ PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
&PORTD, 6);
PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED |
sei();
- /* actuators */
- actuator_init();
+ printf_P(PSTR("cobboard start\r\n"));
/* spickle, shovel */
spickle_init();
shovel_init();
+ /* actuators */
+ actuator_init();
+
state_init();
printf_P(PSTR("\r\n"));