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work on hostsim
[aversive.git]
/
projects
/
microb2010
/
tests
/
hostsim
/
main.c
diff --git
a/projects/microb2010/tests/hostsim/main.c
b/projects/microb2010/tests/hostsim/main.c
index
fe884e7
..
0182943
100644
(file)
--- a/
projects/microb2010/tests/hostsim/main.c
+++ b/
projects/microb2010/tests/hostsim/main.c
@@
-28,7
+28,6
@@
\r
#include <timer.h>
\r
#include <scheduler.h>
\r
\r
#include <timer.h>
\r
#include <scheduler.h>
\r
-#include <time.h>
\r
\r
#include <pid.h>
\r
#include <quadramp.h>
\r
\r
#include <pid.h>
\r
#include <quadramp.h>
\r
@@
-42,6
+41,7
@@
#include <rdline.h>
\r
\r
#include <uart.h>
\r
#include <rdline.h>
\r
\r
#include <uart.h>
\r
+#include <clock_time.h>
\r
//#include <timer.h>
\r
#include <hostsim.h>
\r
\r
//#include <timer.h>
\r
#include <hostsim.h>
\r
\r
@@
-53,25
+53,13
@@
struct mainboard mainboard;
\r
int main(void)
\r
{
\r
\r
int main(void)
\r
{
\r
-#ifndef HOST_VERSION
\r
- uart_init();
\r
- fdevopen(uart0_dev_send, uart0_dev_recv);
\r
- sei();
\r
-#else
\r
- int i;
\r
-#endif
\r
-
\r
-#ifdef CONFIG_MODULE_TIMER
\r
- timer_init();
\r
-#endif
\r
- scheduler_init();
\r
printf("init\n");
\r
\r
printf("init\n");
\r
\r
-#ifdef HOST_VERSION
\r
+ scheduler_init();
\r
+ time_init(TIME_PRIO);
\r
+
\r
hostsim_init();
\r
robotsim_init();
\r
hostsim_init();
\r
robotsim_init();
\r
-#endif
\r
-
\r
\r
microb_cs_init();
\r
\r
\r
microb_cs_init();
\r
\r
@@
-81,10
+69,13
@@
int main(void)
mainboard.flags = DO_ENCODERS | DO_RS |
\r
DO_POS | DO_POWER | DO_BD | DO_CS;
\r
\r
mainboard.flags = DO_ENCODERS | DO_RS |
\r
DO_POS | DO_POWER | DO_BD | DO_CS;
\r
\r
+ time_wait_ms(1000);
\r
+ printf("init\n");
\r
trajectory_d_rel(&mainboard.traj, 1000);
\r
trajectory_d_rel(&mainboard.traj, 1000);
\r
- wait_ms(2000);
\r
+ time_wait_ms(2000);
\r
+ printf("init\n");
\r
trajectory_goto_xy_abs(&mainboard.traj, 1500, 2000);
\r
trajectory_goto_xy_abs(&mainboard.traj, 1500, 2000);
\r
- wait_ms(2000);
\r
+
time_
wait_ms(2000);
\r
return 0;
\r
}
\r
\r
return 0;
\r
}
\r
\r