X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fhostsim%2Fcs.c;h=678ebb825a780ee5c168c7bd5c73a1b197035a25;hp=7fb39f5f32fde737c2cdcb41780cf8547668bb20;hb=1714f4ee916fca95ce24120ea6e698237913f947;hpb=1f8274e9bca0d2433f101f267b86bc70dc2ae8c4

diff --git a/projects/microb2010/tests/hostsim/cs.c b/projects/microb2010/tests/hostsim/cs.c
index 7fb39f5..678ebb8 100644
--- a/projects/microb2010/tests/hostsim/cs.c
+++ b/projects/microb2010/tests/hostsim/cs.c
@@ -29,7 +29,7 @@
 
 #include <timer.h>
 #include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
 
 #include <pid.h>
 #include <quadramp.h>
@@ -43,6 +43,8 @@
 #include <rdline.h>
 
 #include "robotsim.h"
+#include "strat.h"
+#include "actuator.h"
 #include "main.h"
 
 /* called every 5 ms */
@@ -88,11 +90,11 @@ static void do_cs(void *dummy)
 		 * compensation) */
 		position_manage(&mainboard.pos);
 	}
-#if 0
 	if (mainboard.flags & DO_BD) {
 		bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
 		bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
 	}
+#if 0
 	if (mainboard.flags & DO_TIMER) {
 		uint8_t second;
 		/* the robot should stop correctly in the strat, but
@@ -113,6 +115,9 @@ static void do_cs(void *dummy)
 		BRAKE_ON();
 #endif
 	cpt++;
+
+	if ((cpt & 7) == 0)
+		robotsim_dump();
 	//dump_cs("distance", &mainboard.distance.cs);
 	//dump_cs("angle", &mainboard.angle.cs);
 }
@@ -149,8 +154,8 @@ void microb_cs_init(void)
 {
 	/* ROBOT_SYSTEM */
 	rs_init(&mainboard.rs);
-	rs_set_left_pwm(&mainboard.rs, robotsim_pwm, LEFT_PWM);
-	rs_set_right_pwm(&mainboard.rs,  robotsim_pwm, RIGHT_PWM);
+	rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
+	rs_set_right_pwm(&mainboard.rs,  pwm_set_and_save, RIGHT_PWM);
 	/* increase gain to decrease dist, increase left and it will turn more left */
 	rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
 				LEFT_ENCODER, IMP_COEF);
@@ -163,7 +168,7 @@ void microb_cs_init(void)
 	position_init(&mainboard.pos);
 	position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 	position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
-	//position_set_centrifugal_coef(&mainboard.pos, 0.000016);
+	position_set_centrifugal_coef(&mainboard.pos, 0.000016);
 	position_use_ext(&mainboard.pos);
 
 	/* TRAJECTORY MANAGER */