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-rw-r--r--n/line-follower/src/speed.c6
1 files changed, 4 insertions, 2 deletions
diff --git a/n/line-follower/src/speed.c b/n/line-follower/src/speed.c
index 1a66486..ed883a5 100644
--- a/n/line-follower/src/speed.c
+++ b/n/line-follower/src/speed.c
@@ -1,5 +1,5 @@
/* speed.c - PI speed control. */
-/* asserv - Position & speed motor control on a ATmega128. {{{
+/* asserv - Pos ition & speed motor control on a ATmega128. {{{
*
* Copyright (C) 2004 Nicolas Schodet
*
@@ -23,7 +23,6 @@
*
* }}} */
-#include "linesensor.c"
/** Maximum value the pwm can reach (defined by the avr configuration) */
#define PWM_MAX 255
@@ -57,6 +56,8 @@ uint16_t speed_ki = 1 * 255;
/** D coeficient. 4.8 fixed point format. */
uint16_t speed_kd = 1 * 255;
+#include "linesensor.c"
+
/* +AutoDec */
/** Initialise speed parameters. */
@@ -128,6 +129,7 @@ speed_compute_linefol_pwm (void)
int16_t pwm;
// reusing left channel variables
+ linesensor_poll (void);
e = linepos; /* 10b = 8b + 9b */
/* Derivative update. */