X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.c;h=6a36e805134fbdee451a6c1c499feb679fd16fa3;hp=d69d05841c710fb8ae8f45b2cd9e668e3311d828;hb=d1cc3debac68c0012f2c5ca33da9bcf0882f4988;hpb=27b0a59ab1cb5eab29c6fc07476f5465dbd1f786

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index d69d058..6a36e80 100755
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -37,7 +37,7 @@
 #include <pwm_ng.h>
 #include <timer.h>
 #include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
 #include <adc.h>
 
 #include <pid.h>
@@ -67,10 +67,6 @@
 #include "cs.h"
 #include "i2c_protocol.h"
 
-#if __AVR_LIBC_VERSION__ == 10602UL
-#error "won't work with this version"
-#endif
-
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
  * CKSEL 3-0 : 0111
@@ -85,8 +81,8 @@
 
 struct genboard gen;
 struct mainboard mainboard;
-struct mechboard mechboard;
-struct sensorboard sensorboard;
+struct cobboard cobboard;
+struct ballboard ballboard;
 
 /***********************/
 
@@ -172,7 +168,6 @@ int main(void)
 	memset(&mainboard, 0, sizeof(mainboard));
 	mainboard.flags = DO_ENCODERS | DO_RS |
 		DO_POS | DO_POWER | DO_BD;
-	sensorboard.opponent_x = I2C_OPPONENT_NOT_THERE;
 
 	/* UART */
 	uart_init();
@@ -186,7 +181,7 @@ int main(void)
 #  error not supported
 #endif
 
-	//eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
+	eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
 	/* check eeprom to avoid to run the bad program */
 	if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
 	    EEPROM_MAGIC_MAINBOARD) {
@@ -221,8 +216,8 @@ 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 | 
-		      PWM_NG_MODE_SIGN_INVERTED, &PORTD, 4);
+	PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
+		      &PORTD, 4);
 	PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED | 
 		      PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
 	PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
@@ -244,10 +239,7 @@ int main(void)
 		      NULL, 0);
 	PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
 		      NULL, 0);
-	pwm_ng_set(&gen.servo2, 290); /* right */
-	pwm_ng_set(&gen.servo3, 400); /* left */
-	/* 2 lintels 180, 485 */
-	/* 1 lintel 155, 520 */
+	support_balls_deploy(); /* init pwm for servos */
 
 	/* SCHEDULER */
 	scheduler_init();