test serpi

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

diff --git a/projects/microb2010/tests/hostsim/main.c b/projects/microb2010/tests/hostsim/main.c
index ec70479..3907c2a 100644 (file)
--- a/projects/microb2010/tests/hostsim/main.c
+++ b/projects/microb2010/tests/hostsim/main.c
@@ -28,7 +28,6 @@
 \r
 #include <timer.h>\r
 #include <scheduler.h>\r
-#include <time.h>\r
 \r
 #include <pid.h>\r
 #include <quadramp.h>\r
@@ -42,6 +41,7 @@
 #include <rdline.h>\r
 \r
 #include <uart.h>\r
+#include <clock_time.h>\r
 //#include <timer.h>\r
 #include <hostsim.h>\r
 \r
@@ -53,26 +53,13 @@ struct mainboard mainboard;
 \r
 int main(void)\r
 {\r
-#ifndef HOST_VERSION\r
-       uart_init();\r
-       fdevopen(uart0_dev_send, uart0_dev_recv);\r
-       sei();\r
-#else\r
-       int i;\r
-#endif\r
-\r
-#ifdef CONFIG_MODULE_TIMER\r
-       timer_init();\r
-#endif\r
-       scheduler_init();\r
        printf("init\n");\r
 \r
-#ifdef HOST_VERSION\r
-       hostsim_init();\r
-       robotsim_init();\r
-#endif\r
+       scheduler_init();\r
        time_init(TIME_PRIO);\r
 \r
+       hostsim_init();\r
+       robotsim_init();\r
 \r
        microb_cs_init();\r
 \r
@@ -82,10 +69,22 @@ int main(void)
        mainboard.flags = DO_ENCODERS | DO_RS |\r
                DO_POS | DO_POWER | DO_BD | DO_CS;\r
 \r
+       time_wait_ms(1000);\r
+       printf("init\n");\r
        trajectory_d_rel(&mainboard.traj, 1000);\r
-       time_wait_ms(2000);\r
+       time_wait_ms(1300);\r
+       /*\r
+       printf("init\n");\r
        trajectory_goto_xy_abs(&mainboard.traj, 1500, 2000);\r
        time_wait_ms(2000);\r
+       */\r
+       trajectory_circle_rel(&mainboard.traj,\r
+                             1000, 500,\r
+                             500,\r
+                             400,\r
+                             0);\r
+\r
+       time_wait_ms(10000);\r
        return 0;\r
 }\r
 \r