X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fhostsim%2Fcs.c;h=9766ea990e6f35aa5c9514164656cc676860268a;hp=cbb65d6a45e5cdc7875ce4ab62bad3bfd3476df6;hb=9fdc9cd2902ed50ebefe0b3c9309d4f173d65e2a;hpb=145b19e73ce5751b365bc53769189addeecee81b

diff --git a/projects/microb2010/tests/hostsim/cs.c b/projects/microb2010/tests/hostsim/cs.c
index cbb65d6..9766ea9 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
@@ -114,7 +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);
@@ -152,8 +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);