#include <rdline.h>
#include "robotsim.h"
+#include "strat.h"
+#include "actuator.h"
#include "main.h"
/* called every 5 ms */
* compensation) */
position_manage(&mainboard.pos);
}
-#if 0
if (mainboard.flags & DO_BD) {
bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
}
+#if 0
if (mainboard.flags & DO_TIMER) {
uint8_t second;
/* the robot should stop correctly in the strat, but
#endif
cpt++;
- if ((cpt & 8) == 0)
+ if ((cpt & 7) == 0)
robotsim_dump();
//dump_cs("distance", &mainboard.distance.cs);
//dump_cs("angle", &mainboard.angle.cs);
{
/* ROBOT_SYSTEM */
rs_init(&mainboard.rs);
- rs_set_left_pwm(&mainboard.rs, robotsim_pwm, LEFT_PWM);
- rs_set_right_pwm(&mainboard.rs, robotsim_pwm, RIGHT_PWM);
+ rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
+ rs_set_right_pwm(&mainboard.rs, pwm_set_and_save, RIGHT_PWM);
/* increase gain to decrease dist, increase left and it will turn more left */
rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
LEFT_ENCODER, IMP_COEF);
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 */