X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fhostsim%2Fmain.c;h=3907c2a1b9acaead51a2c2aebc0a8b746dc67c12;hp=9f5a15f7addd3ae1431b6e3a4ef3cd1395c4f373;hb=450875fb3d6f1f6966e1b0f79af0572126eea3d3;hpb=1f8274e9bca0d2433f101f267b86bc70dc2ae8c4

diff --git a/projects/microb2010/tests/hostsim/main.c b/projects/microb2010/tests/hostsim/main.c
index 9f5a15f..3907c2a 100644
--- a/projects/microb2010/tests/hostsim/main.c
+++ b/projects/microb2010/tests/hostsim/main.c
@@ -28,7 +28,6 @@
 
 #include <timer.h>
 #include <scheduler.h>
-#include <time.h>
 
 #include <pid.h>
 #include <quadramp.h>
@@ -42,6 +41,7 @@
 #include <rdline.h>
 
 #include <uart.h>
+#include <clock_time.h>
 //#include <timer.h>
 #include <hostsim.h>
 
@@ -53,25 +53,13 @@ struct mainboard mainboard;
 
 int main(void)
 {
-#ifndef HOST_VERSION
-	uart_init();
-	fdevopen(uart0_dev_send, uart0_dev_recv);
-	sei();
-#else
-	int i;
-#endif
-
-#ifdef CONFIG_MODULE_TIMER
-	timer_init();
-#endif
-	scheduler_init();
 	printf("init\n");
 
-#ifdef HOST_VERSION
-	hostsim_init();
-#endif
+	scheduler_init();
 	time_init(TIME_PRIO);
 
+	hostsim_init();
+	robotsim_init();
 
 	microb_cs_init();
 
@@ -81,9 +69,22 @@ int main(void)
 	mainboard.flags = DO_ENCODERS | DO_RS |
 		DO_POS | DO_POWER | DO_BD | DO_CS;
 
-	trajectory_d_rel(&mainboard.traj, 100);
-
 	time_wait_ms(1000);
+	printf("init\n");
+	trajectory_d_rel(&mainboard.traj, 1000);
+	time_wait_ms(1300);
+	/*
+	printf("init\n");
+	trajectory_goto_xy_abs(&mainboard.traj, 1500, 2000);
+	time_wait_ms(2000);
+	*/
+	trajectory_circle_rel(&mainboard.traj,
+			      1000, 500,
+			      500,
+			      400,
+			      0);
+
+	time_wait_ms(10000);
 	return 0;
 }