X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fhostsim%2Fmain.c;h=d36fa5f32debe6d3086fa6aa492ffd0ffa3a2120;hp=85a31a2370878ae491a5412307c10ef45873800d;hb=1714f4ee916fca95ce24120ea6e698237913f947;hpb=87ccd3af8abb0da3e0fa98dc8e9216fc7b676f97

diff --git a/projects/microb2010/tests/hostsim/main.c b/projects/microb2010/tests/hostsim/main.c
index 85a31a2..d36fa5f 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>
@@ -42,11 +41,15 @@
 #include <rdline.h>
 
 #include <uart.h>
+#include <clock_time.h>
 //#include <timer.h>
 #include <hostsim.h>
 
 #include "cs.h"
 #include "cmdline.h"
+#include "robotsim.h"
+#include "strat.h"
+#include "strat_base.h"
 #include "main.h"
 
 struct genboard gen;
@@ -74,13 +77,14 @@ int main(void)
 #ifdef CONFIG_MODULE_TIMER
 	timer_init();
 #endif
-	scheduler_init();
+
 	printf("init\n");
 
-#ifdef HOST_VERSION
+	scheduler_init();
+
 	hostsim_init();
 	robotsim_init();
-#endif
+
 	microb_cs_init();
 
 	time_init(TIME_PRIO);
@@ -90,15 +94,10 @@ int main(void)
 
 	mainboard.flags = DO_ENCODERS | DO_RS |
 		DO_POS | DO_POWER | DO_BD | DO_CS;
-	strat_reset_pos(1000, 1000, 0);
+	strat_reset_pos(1000, 1000, -90);
 
 	cmdline_interact();
 
-/* 	trajectory_d_rel(&mainboard.traj, 1000); */
-/* 	time_wait_ms(2000); */
-/* 	trajectory_circle_rel(&mainboard.traj, 1500, 1000, */
-/* 			      250, 360, 0); */
-/* 	time_wait_ms(15000); */
 	return 0;
 }