From dc8b1cde313f3f8a60462187bbeeea4277fd0313 Mon Sep 17 00:00:00 2001
From: meyma <devnull@localhost>
Date: Thu, 22 Feb 2007 14:27:02 +0000
Subject: Additional Codework on Distance_Sensor

---
 source/Concept/Framework/atmega128io.c                   | 4 ++--
 source/Concept/Framework/modules/input/distance_sensor.h | 5 ++++-
 source/Concept/Framework/robot.c                         | 5 ++++-
 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++)
-- 
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