test board 2008

[aversive.git] / projects / microb2010 / tests / test_board2008 / cs.c

diff --git a/projects/microb2010/tests/test_board2008/cs.c b/projects/microb2010/tests/test_board2008/cs.c
index 9736646..c2409a1 100644 (file)
--- a/projects/microb2010/tests/test_board2008/cs.c
+++ b/projects/microb2010/tests/test_board2008/cs.c
@@ -31,7 +31,7 @@
 #include <pwm_ng.h>
 #include <timer.h>
 #include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
 #include <adc.h>
 
 #include <pid.h>
@@ -99,15 +99,16 @@ static void do_cs(void *dummy)
                        cs_manage(&mainboard.angle.cs);
                if (mainboard.distance.on)
                        cs_manage(&mainboard.distance.cs);
-               if (mainboard.fessor.on)
+               if (mainboard.fessor.on) {
                        cs_manage(&mainboard.fessor.cs);
+                       fessor_manage();
+               }
                if (mainboard.wheel.on)
                        cs_manage(&mainboard.wheel.cs);
-               if (mainboard.elevator.on)
+               if (mainboard.elevator.on) {
                        cs_manage(&mainboard.elevator.cs);
-
-               fessor_manage();
-               elevator_manage();
+                       elevator_manage();
+               }
        }
        if ((cpt & 1) && (mainboard.flags & DO_POS)) {
                /* about 1.5ms (worst case without centrifugal force
@@ -305,7 +306,7 @@ void microb_cs_init(void)
        mainboard.angle.on = 0;
        mainboard.distance.on = 0;
        mainboard.fessor.on = 1;
-       mainboard.elevator.on = 1;
+       mainboard.elevator.on = 0;
        mainboard.wheel.on = 1;
        mainboard.flags |= DO_CS;