code 2010

[aversive.git] / projects / microb2010 / tests / hostsim / cs.c

diff --git a/projects/microb2010/tests/hostsim/cs.c b/projects/microb2010/tests/hostsim/cs.c
index c5ecf278c293778ce3766fdafef41fcfcacfc35d..678ebb825a780ee5c168c7bd5c73a1b197035a25 100644 (file)
--- a/projects/microb2010/tests/hostsim/cs.c
+++ b/projects/microb2010/tests/hostsim/cs.c
@@ -29,7 +29,7 @@
 
 #include <timer.h>
 #include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
 
 #include <pid.h>
 #include <quadramp.h>
@@ -116,7 +116,7 @@ static void do_cs(void *dummy)
 #endif
        cpt++;
 
-       if ((cpt & 8) == 0)
+       if ((cpt & 7) == 0)
                robotsim_dump();
        //dump_cs("distance", &mainboard.distance.cs);
        //dump_cs("angle", &mainboard.angle.cs);
@@ -168,7 +168,7 @@ 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 */