trajectory: follow a line

[aversive.git] / projects / microb2010 / cobboard / main.c

diff --git a/projects/microb2010/cobboard/main.c b/projects/microb2010/cobboard/main.c
index d0526a5161a8b917c2d1349dc42a74e7cd9c0dc9..39318d9facfb733e61a4ac6c2423970f4d4768e4 100755 (executable)
--- a/projects/microb2010/cobboard/main.c
+++ b/projects/microb2010/cobboard/main.c
@@ -58,6 +58,7 @@
 #include "state.h"
 #include "actuator.h"
 #include "spickle.h"
 #include "state.h"
 #include "actuator.h"
 #include "spickle.h"

+#include "shovel.h"

 #include "cs.h"
 #include "i2c_protocol.h"
 
 #include "cs.h"
 #include "i2c_protocol.h"
 


@@ -166,7 +167,7 @@ int main(void)
 #  error not supported
 #endif
 
 #  error not supported
 #endif
 

-       eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_COBBOARD);
+       //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_COBBOARD);

        /* check eeprom to avoid to run the bad program */
        if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
            EEPROM_MAGIC_COBBOARD) {
        /* check eeprom to avoid to run the bad program */
        if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
            EEPROM_MAGIC_COBBOARD) {


@@ -248,10 +249,11 @@ int main(void)
        /* actuators */
        actuator_init();
 
        /* actuators */
        actuator_init();
 

-       /* spickle */
+       /* spickle, shovel */

        spickle_init();
        spickle_init();

+       shovel_init();

 
 

-/*     state_init(); */
+       state_init();

 
        printf_P(PSTR("\r\n"));
        printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
 
        printf_P(PSTR("\r\n"));
        printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));


@@ -261,7 +263,7 @@ int main(void)
        gen.log_level = 5;
        cobboard.flags |= DO_CS;
 
        gen.log_level = 5;
        cobboard.flags |= DO_CS;
 

-/*     state_machine(); */
+       state_machine();

        cmdline_interact();
 
        return 0;
        cmdline_interact();
 
        return 0;