vt100: include pgmspace.h as we use PROGMEM macro

[aversive.git] / projects / microb2010 / mainboard / cs.c

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index 6ef8fe9..0700469 100644 (file)
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -80,15 +80,6 @@ int32_t encoders_right_cobroller_speed(void *number)
 }
 #endif
 
-#ifndef HOST_VERSION
-#define DEBUG_CPLD
-#endif
-
-#ifdef DEBUG_CPLD
-extern int16_t g_encoders_spi_previous[4];
-static int32_t ll_prev, rr_prev;
-#endif
-
 /* called every 5 ms */
 static void do_cs(void *dummy)
 {
@@ -98,29 +89,10 @@ static void do_cs(void *dummy)
 #ifdef HOST_VERSION
        robotsim_update();
 #else
-#ifdef DEBUG_CPLD
-       int32_t ll, rr;
-#endif
        /* read encoders */
        if (mainboard.flags & DO_ENCODERS) {
                encoders_spi_manage(NULL);
        }
-#ifdef DEBUG_CPLD
-       ll = encoders_spi_get_value(LEFT_ENCODER);
-       rr = encoders_spi_get_value(RIGHT_ENCODER);
-       if ((ll - ll_prev > 3000) || (ll - ll_prev < -3000) ||
-           (rr - rr_prev > 3000) || (rr - rr_prev < -3000)) {
-               printf_P(PSTR("/ %d %d %d %d\r\n"),
-                        g_encoders_spi_previous[0],
-                        g_encoders_spi_previous[1],
-                        g_encoders_spi_previous[2],
-                        g_encoders_spi_previous[3]);
-               BRAKE_ON();
-               while (1);
-       }
-       ll_prev = ll;
-       rr_prev = rr;
-#endif
 #endif
 
        /* robot system, conversion to angle,distance */
@@ -161,11 +133,11 @@ static void do_cs(void *dummy)
                bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
                bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
                if (mainboard.flags & DO_ERRBLOCKING) {
-                       if (bd_get(&mainboard.left_cobroller.bd) ||
-                           bd_get(&mainboard.left_cobroller.bd)) {
-                               printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
-                               mainboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
-                       }
+/*                     if (bd_get(&mainboard.left_cobroller.bd) || */
+/*                         bd_get(&mainboard.left_cobroller.bd)) { */
+/*                             printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n")); */
+/*                             mainboard.flags &= ~(DO_POWER | DO_ERRBLOCKING); */
+/*                     } */
                }
 #endif
        }
@@ -193,7 +165,6 @@ static void do_cs(void *dummy)
 
 #ifdef HOST_VERSION
        if ((cpt & 7) == 0) {
-               //              dump_cs("dist", &mainboard.distance.cs);
                robotsim_dump();
        }
 #endif
@@ -252,7 +223,7 @@ void microb_cs_init(void)
        position_init(&mainboard.pos);
        position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
        position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
-       //      position_set_centrifugal_coef(&mainboard.pos, 0.000016);
+       position_set_centrifugal_coef(&mainboard.pos, 0.000016);
        position_use_ext(&mainboard.pos);
 
        /* TRAJECTORY MANAGER */
@@ -365,11 +336,6 @@ void microb_cs_init(void)
        mainboard.left_cobroller.on = 1;
        mainboard.right_cobroller.on = 1;
 
-#ifdef DEBUG_CPLD
-       ll_prev = encoders_spi_get_value(LEFT_ENCODER);
-       rr_prev = encoders_spi_get_value(RIGHT_ENCODER);
-#endif
-
        scheduler_add_periodical_event_priority(do_cs, NULL,
                                                5000L / SCHEDULER_UNIT,
                                                CS_PRIO);