X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fmain.c;fp=projects%2Fmicrob2010%2Fcobboard%2Fmain.c;h=24f14bcb93930695efa9a3d3833dd43aab02fa13;hp=62103c813fa2faefaff7534219b5883a411f07db;hb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d;hpb=a33ceba76b3770d48c68a321b5d259893ddc613c

diff --git a/projects/microb2010/cobboard/main.c b/projects/microb2010/cobboard/main.c
index 62103c8..24f14bc 100755
--- a/projects/microb2010/cobboard/main.c
+++ b/projects/microb2010/cobboard/main.c
@@ -183,8 +183,6 @@ int main(void)
 	error_register_notice(mylog);
 	error_register_debug(mylog);
 
-	wait_ms(3000);
-
 	/* SPI + ENCODERS */
 	encoders_spi_init(); /* this will also init spi hardware */
 
@@ -205,8 +203,8 @@ int main(void)
 
 	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.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED |
+		      PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
 	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 |
@@ -248,13 +246,15 @@ int main(void)
 
 	sei();
 
-	/* actuators */
-	actuator_init();
+	printf_P(PSTR("cobboard start\r\n"));
 
 	/* spickle, shovel */
 	spickle_init();
 	shovel_init();
 
+	/* actuators */
+	actuator_init();
+
 	state_init();
 
 	printf_P(PSTR("\r\n"));