#include <timer.h>
#include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
#include <pid.h>
#include <quadramp.h>
#endif
cpt++;
- if ((cpt & 8) == 0)
+ if ((cpt & 7) == 0)
robotsim_dump();
//dump_cs("distance", &mainboard.distance.cs);
//dump_cs("angle", &mainboard.angle.cs);
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 */