#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
#include <adc.h>
#include <pid.h>
cs_manage(&mainboard.angle.cs);
if (mainboard.distance.on)
cs_manage(&mainboard.distance.cs);
- if (mainboard.fessor.on)
+ if (mainboard.fessor.on) {
cs_manage(&mainboard.fessor.cs);
+ fessor_manage();
+ }
if (mainboard.wheel.on)
cs_manage(&mainboard.wheel.cs);
- if (mainboard.elevator.on)
+ if (mainboard.elevator.on) {
cs_manage(&mainboard.elevator.cs);
-
- fessor_manage();
- elevator_manage();
+ elevator_manage();
+ }
}
if ((cpt & 1) && (mainboard.flags & DO_POS)) {
/* about 1.5ms (worst case without centrifugal force
mainboard.angle.on = 0;
mainboard.distance.on = 0;
mainboard.fessor.on = 1;
- mainboard.elevator.on = 1;
+ mainboard.elevator.on = 0;
mainboard.wheel.on = 1;
mainboard.flags |= DO_CS;