X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.c;h=eb549c591cd944fa2f84f5dbd273e930047d3698;hp=8616303a10cf1e55ce53cb3f170a9a75374281e6;hb=5894a1a70f98504fee52e58f45f181aa684d99bf;hpb=4f7bc6a1332aa9cd2ac3cf8f34bf990203cb03e7

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index 8616303..eb549c5 100755
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -68,8 +68,10 @@
 #include "cs.h"
 #include "strat_base.h"
 #include "strat_db.h"
+#include "strat_avoid.h"
 #include "i2c_protocol.h"
 
+
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
  * CKSEL 3-0 : 0111
@@ -185,6 +187,8 @@ int main(void)
 	memset(&mainboard, 0, sizeof(mainboard));
 	mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 		DO_POS | DO_POWER | DO_BD | DO_ERRBLOCKING;
+	ballboard.lcob = I2C_COB_NONE;
+	ballboard.rcob = I2C_COB_NONE;
 
 	/* UART */
 	uart_init();
@@ -294,11 +298,10 @@ int main(void)
 	/* strat */
  	gen.logs[0] = E_USER_STRAT;
  	gen.log_level = 5;
-	strat_db_init();
 
 	/* strat-related event */
 	scheduler_add_periodical_event_priority(strat_event, NULL,
-						10000L / SCHEDULER_UNIT,
+						25000L / SCHEDULER_UNIT,
 						STRAT_PRIO);
 
 #ifndef HOST_VERSION
@@ -310,6 +313,9 @@ int main(void)
 
 	sei();
 
+	strat_db_init();
+	test_strat_avoid();
+
 	printf_P(PSTR("\r\n"));
 	printf_P(PSTR("Respect et robustesse.\r\n"));
 #ifndef HOST_VERSION