X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fhostsim%2Fcs.c;h=678ebb825a780ee5c168c7bd5c73a1b197035a25;hp=c5ecf278c293778ce3766fdafef41fcfcacfc35d;hb=1714f4ee916fca95ce24120ea6e698237913f947;hpb=87ccd3af8abb0da3e0fa98dc8e9216fc7b676f97

diff --git a/projects/microb2010/tests/hostsim/cs.c b/projects/microb2010/tests/hostsim/cs.c
index c5ecf27..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>
@@ -116,7 +116,7 @@ static void do_cs(void *dummy)
 #endif
 	cpt++;
 
-	if ((cpt & 8) == 0)
+	if ((cpt & 7) == 0)
 		robotsim_dump();
 	//dump_cs("distance", &mainboard.distance.cs);
 	//dump_cs("angle", &mainboard.angle.cs);
@@ -168,7 +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 */