2 * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
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4 * This program is free software; you can redistribute it and/or modify
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5 * it under the terms of the GNU General Public License as published by
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6 * the Free Software Foundation; either version 2 of the License, or
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7 * (at your option) any later version.
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9 * This program is distributed in the hope that it will be useful,
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10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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12 * GNU General Public License for more details.
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14 * You should have received a copy of the GNU General Public License
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15 * along with this program; if not, write to the Free Software
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16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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18 * Revision : $Id: main.c,v 1.9.4.5 2007-06-01 09:37:22 zer0 Exp $
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25 #include <aversive.h>
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26 #include <aversive/error.h>
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27 #include <aversive/wait.h>
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30 #include <scheduler.h>
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34 #include <quadramp.h>
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35 #include <control_system_manager.h>
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36 #include <trajectory_manager.h>
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37 #include <blocking_detection_manager.h>
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38 #include <robot_system.h>
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39 #include <position_manager.h>
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45 //#include <timer.h>
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46 #include <hostsim.h>
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51 struct genboard gen;
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52 struct mainboard mainboard;
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56 #ifndef HOST_VERSION
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58 fdevopen(uart0_dev_send, uart0_dev_recv);
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64 #ifdef CONFIG_MODULE_TIMER
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73 time_init(TIME_PRIO);
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78 gen.logs[0] = E_USER_CS;
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81 mainboard.flags = DO_ENCODERS | DO_RS |
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82 DO_POS | DO_POWER | DO_BD | DO_CS;
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84 trajectory_d_rel(&mainboard.traj, 100);
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