#include "sensor.h"
#include "state.h"
#include "actuator.h"
-#include "arm_xy.h"
+#include "spickle.h"
+#include "shovel.h"
#include "cs.h"
#include "i2c_protocol.h"
PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
TIMER4_PRESCALER_DIV_1);
- PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
- &PORTD, 4);
+ PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED |
+ PWM_NG_MODE_SIGN_INVERTED, &PORTD, 4);
PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
&PORTD, 5);
- PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED |
- PWM_NG_MODE_SIGN_INVERTED,
+ PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
&PORTD, 6);
PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED |
PWM_NG_MODE_SIGN_INVERTED,
sei();
- /* finger + other actuators */
+ /* actuators */
actuator_init();
- state_init();
+ /* spickle, shovel */
+ spickle_init();
+ shovel_init();
+
+/* state_init(); */
printf_P(PSTR("\r\n"));
printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
gen.log_level = 5;
cobboard.flags |= DO_CS;
- state_machine();
+/* state_machine(); */
cmdline_interact();
return 0;