code 2010

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

diff --git a/projects/microb2010/cobboard/main.c b/projects/microb2010/cobboard/main.c
index 418f5e1..d0526a5 100755 (executable)
--- a/projects/microb2010/cobboard/main.c
+++ b/projects/microb2010/cobboard/main.c
@@ -57,7 +57,7 @@
 #include "sensor.h"
 #include "state.h"
 #include "actuator.h"
-#include "arm_xy.h"
+#include "spickle.h"
 #include "cs.h"
 #include "i2c_protocol.h"
 
@@ -166,7 +166,7 @@ int main(void)
 #  error not supported
 #endif
 
-       //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_COBBOARD);
+       eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_COBBOARD);
        /* check eeprom to avoid to run the bad program */
        if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
            EEPROM_MAGIC_COBBOARD) {
@@ -200,12 +200,11 @@ int main(void)
        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,
@@ -246,10 +245,13 @@ int main(void)
 
        sei();
 
-       /* finger + other actuators */
+       /* actuators */
        actuator_init();
 
-       state_init();
+       /* spickle */
+       spickle_init();
+
+/*     state_init(); */
 
        printf_P(PSTR("\r\n"));
        printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
@@ -259,7 +261,7 @@ int main(void)
        gen.log_level = 5;
        cobboard.flags |= DO_CS;
 
-       state_machine();
+/*     state_machine(); */
        cmdline_interact();
 
        return 0;