X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fmain.c;h=8ba5d521f6f15cd81f5f0cec89ffdef212c15a56;hp=418f5e1e94f70889694edccf35d7af1058c2fa52;hb=57b3e145f2ff46e1a7e7d522c85f3c56821dbf48;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305

diff --git a/projects/microb2010/cobboard/main.c b/projects/microb2010/cobboard/main.c
index 418f5e1..8ba5d52 100755
--- a/projects/microb2010/cobboard/main.c
+++ b/projects/microb2010/cobboard/main.c
@@ -57,7 +57,8 @@
 #include "sensor.h"
 #include "state.h"
 #include "actuator.h"
-#include "arm_xy.h"
+#include "spickle.h"
+#include "shovel.h"
 #include "cs.h"
 #include "i2c_protocol.h"
 
@@ -200,12 +201,11 @@ int main(void)
 	PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10, 
 				 TIMER4_PRESCALER_DIV_1);
 	
-	PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
-		      &PORTD, 4);
+	PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED |
+		      PWM_NG_MODE_SIGN_INVERTED, &PORTD, 4);
 	PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
 		      &PORTD, 5);
-	PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED | 
-		      PWM_NG_MODE_SIGN_INVERTED,
+	PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
 		      &PORTD, 6);
 	PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED |
 		      PWM_NG_MODE_SIGN_INVERTED,
@@ -246,10 +246,14 @@ int main(void)
 
 	sei();
 
-	/* finger + other actuators */
+	/* actuators */
 	actuator_init();
 
-	state_init();
+	/* spickle, shovel */
+	spickle_init();
+	shovel_init();
+
+/* 	state_init(); */
 
 	printf_P(PSTR("\r\n"));
 	printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
@@ -259,7 +263,7 @@ int main(void)
  	gen.log_level = 5;
 	cobboard.flags |= DO_CS;
 
-	state_machine();
+/* 	state_machine(); */
 	cmdline_interact();
 
 	return 0;