Additional Codework on Distance_Sensor

3 files changed, 10 insertions, 4 deletions

diff --git a/source/Concept/Framework/atmega128io.c b/source/Concept/Framework/atmega128io.c
index 94e0f94..e077a98 100755
--- a/source/Concept/Framework/atmega128io.c
+++ b/source/Concept/Framework/atmega128io.c
@@ -595,8 +595,8 @@ void uart1_puts_p(const char *progmem_s )
 
 int8 Init_TWI(void){
 	TWAR = OWN_ADR;							/*!< Eigenen Slave Adresse setzen */
-	TWBR = 12;                    			/*!< Setze Baudrate auf 100 KHz  */
-											/*!< 4 MHz xtal */
+	TWBR = 64;                    			/*!< Setze Baudrate auf 100 KHz  */
+											/*!< 16 MHz xtal */
 	TWCR = (1<<TWEN);						/*!< TWI-Interface einschalten */
 
     return 1;
diff --git a/source/Concept/Framework/modules/input/distance_sensor.h b/source/Concept/Framework/modules/input/distance_sensor.h
index 9efa021..9fb2c58 100755
--- a/source/Concept/Framework/modules/input/distance_sensor.h
+++ b/source/Concept/Framework/modules/input/distance_sensor.h
@@ -50,7 +50,10 @@ public:
 			default:
 				this->slaveAddr = 0;

 				break;

-		}

+		}
+
+		// initialiate the sensor
+		srf10_init();

 	}

 

 protected:

diff --git a/source/Concept/Framework/robot.c b/source/Concept/Framework/robot.c
index 0e4e9ac..9985463 100755
--- a/source/Concept/Framework/robot.c
+++ b/source/Concept/Framework/robot.c
@@ -42,7 +42,10 @@ Robot::Robot()
 	TCCR3B =  (1<<ICNC3) | (1<<CS31); // set clock/prescaler 1/8 -> enable counter

 

 	//Activate interrupt

-	sei();

+	sei();
+
+	// Initialiate TWI
+	Init_TWI();

 

 	//Interface

 	for(uint8 i = IO_START; i < IO_END; i++)