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Rev 629 Rev 632
Line 386... Line 386...
386
        if(MotorTest[0]) Motor_Vorne = MotorTest[0];
386
        if(MotorTest[0]) Motor_Vorne = MotorTest[0];
387
        if(MotorTest[1]) Motor_Hinten = MotorTest[1];
387
        if(MotorTest[1]) Motor_Hinten = MotorTest[1];
388
        if(MotorTest[2]) Motor_Links = MotorTest[2];
388
        if(MotorTest[2]) Motor_Links = MotorTest[2];
389
        if(MotorTest[3]) Motor_Rechts = MotorTest[3];
389
        if(MotorTest[3]) Motor_Rechts = MotorTest[3];
390
        }
390
        }
391
 
391
/*
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    DebugOut.Analog[12] = Motor_Vorne;
392
    DebugOut.Analog[12] = Motor_Vorne;
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    DebugOut.Analog[13] = Motor_Hinten;
393
    DebugOut.Analog[13] = Motor_Hinten;
394
    DebugOut.Analog[14] = Motor_Links;
394
    DebugOut.Analog[14] = Motor_Links;
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    DebugOut.Analog[15] = Motor_Rechts;  
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    DebugOut.Analog[15] = Motor_Rechts;  
396
 
396
*/
397
    //Start I2C Interrupt Mode
397
    //Start I2C Interrupt Mode
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    twi_state = 0;
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    twi_state = 0;
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    motor = 0;
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    motor = 0;
400
    i2c_start();
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    i2c_start();
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}
401
}
Line 1207... Line 1207...
1207
        DebugOut.Analog[27] =  gps_rel_act_position.utm_north;
1207
        DebugOut.Analog[27] =  gps_rel_act_position.utm_north;
1208
        DebugOut.Analog[28] =  gps_rel_act_position.utm_alt;
1208
        DebugOut.Analog[28] =  gps_rel_act_position.utm_alt;
1209
        DebugOut.Analog[29] =  gps_state + (gps_sub_state*10)+(50*gps_cmd);
1209
        DebugOut.Analog[29] =  gps_state + (gps_sub_state*10)+(50*gps_cmd);
1210
        DebugOut.Analog[30] =  debug_gp_0;
1210
        DebugOut.Analog[30] =  debug_gp_0;
1211
        DebugOut.Analog[31] =  debug_gp_1;
1211
        DebugOut.Analog[31] =  debug_gp_1;
1212
/*      DebugOut.Analog[12] = debug_gp_2;
1212
        DebugOut.Analog[12] = debug_gp_2;
1213
    DebugOut.Analog[13] = debug_gp_3;
1213
    DebugOut.Analog[13] = debug_gp_3;
1214
    DebugOut.Analog[14] = debug_gp_4;
1214
    DebugOut.Analog[14] = debug_gp_4;
1215
    DebugOut.Analog[15] = debug_gp_5;
1215
    DebugOut.Analog[15] = debug_gp_5;
1216
*/
1216
 
1217
//      DebugOut.Analog[30] =  dist_flown;
1217
//      DebugOut.Analog[30] =  dist_flown;
1218
//      DebugOut.Analog[31] =  (int) dist_2home;
1218
//      DebugOut.Analog[31] =  (int) dist_2home;
1219
//      DebugOut.Analog[31] =  (int) GPS_hdng_abs_2trgt;
1219
//      DebugOut.Analog[31] =  (int) GPS_hdng_abs_2trgt;
1220
//      DebugOut.Analog[31] =  (int) GyroGier_Comp;
1220
//      DebugOut.Analog[31] =  (int) GyroGier_Comp;
1221
/*
1221
/*