#include <hostsim.h>\r
\r
#include "cs.h"\r
+#include "cmdline.h"\r
+#include "robotsim.h"\r
+#include "strat.h"\r
+#include "strat_base.h"\r
#include "main.h"\r
\r
struct genboard gen;\r
\r
int main(void)\r
{\r
+ uart_init();\r
+ uart_register_rx_event(CMDLINE_UART, emergency);\r
+#ifndef HOST_VERSION\r
+ fdevopen(uart0_dev_send, uart0_dev_recv);\r
+ sei();\r
+#endif\r
+\r
+ memset(&gen, 0, sizeof(gen));\r
+ memset(&mainboard, 0, sizeof(mainboard));\r
+\r
+ /* LOGS */\r
+ error_register_emerg(mylog);\r
+ error_register_error(mylog);\r
+ error_register_warning(mylog);\r
+ error_register_notice(mylog);\r
+ error_register_debug(mylog);\r
+\r
+#ifdef CONFIG_MODULE_TIMER\r
+ timer_init();\r
+#endif\r
+\r
printf("init\n");\r
\r
scheduler_init();\r
- time_init(TIME_PRIO);\r
\r
hostsim_init();\r
robotsim_init();\r
\r
microb_cs_init();\r
\r
- gen.logs[0] = E_USER_CS;\r
- gen.log_level = 5;\r
+ time_init(TIME_PRIO);\r
+\r
+ printf_P(PSTR("\r\n"));\r
+ printf_P(PSTR("Respect et robustesse.\r\n"));\r
\r
mainboard.flags = DO_ENCODERS | DO_RS |\r
DO_POS | DO_POWER | DO_BD | DO_CS;\r
+ strat_reset_pos(1000, 1000, -90);\r
+\r
+ cmdline_interact();\r
\r
- time_wait_ms(1000);\r
- printf("init\n");\r
- trajectory_d_rel(&mainboard.traj, 1000);\r
- time_wait_ms(2000);\r
- printf("init\n");\r
- trajectory_goto_xy_abs(&mainboard.traj, 1500, 2000);\r
- time_wait_ms(2000);\r
return 0;\r
}\r
\r