current limit on shovel

[aversive.git] / projects / microb2010 / cobboard / cs.c

diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c
index f8c71233cda4c39f4fdc81afd75cf7fbb20fb06d..386b36024b07d108c2480e044b53cb6546eccaa4 100644 (file)
--- a/projects/microb2010/cobboard/cs.c
+++ b/projects/microb2010/cobboard/cs.c
@@ -46,6 +46,7 @@
 #include "main.h"
 #include "actuator.h"
 #include "spickle.h"
+#include "shovel.h"
 
 /* called every 5 ms */
 static void do_cs(__attribute__((unused)) void *dummy)
@@ -173,7 +174,7 @@ void microb_cs_init(void)
        cs_init(&cobboard.shovel.cs);
        cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
        cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
-       cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
+       cs_set_process_in(&cobboard.shovel.cs, shovel_set, SHOVEL_PWM);
        cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
        cs_set_consign(&cobboard.shovel.cs, 0);