trajectory optimizations

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

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index 90e9ff1..eb549c5 100755 (executable)
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -68,8 +68,10 @@
 #include "cs.h"
 #include "strat_base.h"
 #include "strat_db.h"
+#include "strat_avoid.h"
 #include "i2c_protocol.h"
 
+
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
  * CKSEL 3-0 : 0111
@@ -296,11 +298,10 @@ int main(void)
        /* strat */
        gen.logs[0] = E_USER_STRAT;
        gen.log_level = 5;
-       strat_db_init();
 
        /* strat-related event */
        scheduler_add_periodical_event_priority(strat_event, NULL,
-                                               10000L / SCHEDULER_UNIT,
+                                               25000L / SCHEDULER_UNIT,
                                                STRAT_PRIO);
 
 #ifndef HOST_VERSION
@@ -312,6 +313,9 @@ int main(void)
 
        sei();
 
+       strat_db_init();
+       test_strat_avoid();
+
        printf_P(PSTR("\r\n"));
        printf_P(PSTR("Respect et robustesse.\r\n"));
 #ifndef HOST_VERSION