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irrational unblocking, low speed obstacle bug and spicke pack when y too big
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
main.c
diff --git
a/projects/microb2010/mainboard/main.c
b/projects/microb2010/mainboard/main.c
index
7690838
..
f657ddf
100755
(executable)
--- a/
projects/microb2010/mainboard/main.c
+++ b/
projects/microb2010/mainboard/main.c
@@
-70,7
+70,6
@@
#include "strat_db.h"
#include "strat_avoid.h"
#include "i2c_protocol.h"
#include "strat_db.h"
#include "strat_avoid.h"
#include "i2c_protocol.h"
-#include "beacon.h"
/* 0 means "programmed"
/* 0 means "programmed"
@@
-89,7
+88,6
@@
struct genboard gen;
struct mainboard mainboard;
volatile struct cobboard cobboard;
volatile struct ballboard ballboard;
struct mainboard mainboard;
volatile struct cobboard cobboard;
volatile struct ballboard ballboard;
-volatile struct beaconboard beaconboard;
#ifndef HOST_VERSION
/***********************/
#ifndef HOST_VERSION
/***********************/
@@
-192,8
+190,6
@@
int main(void)
ballboard.lcob = I2C_COB_NONE;
ballboard.rcob = I2C_COB_NONE;
ballboard.lcob = I2C_COB_NONE;
ballboard.rcob = I2C_COB_NONE;
- beaconboard.oppx = I2C_OPPONENT_NOT_THERE;
-
/* UART */
uart_init();
uart_register_rx_event(CMDLINE_UART, emergency);
/* UART */
uart_init();
uart_register_rx_event(CMDLINE_UART, emergency);
@@
-293,9
+289,6
@@
int main(void)
/* sensors, will also init hardware adc */
sensor_init();
/* sensors, will also init hardware adc */
sensor_init();
- /* beacon */
- beacon_init();
-
#ifndef HOST_VERSION
/* start i2c slave polling */
scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
#ifndef HOST_VERSION
/* start i2c slave polling */
scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,