July 12 Tests

VLOW problem (when battery charged): Isolated the problem to how JTAG plugged into LEGO, so be careful how JTAG plugged into LEGO.
 
Sound sensor 
- high values = low noise
- added Sound FB
- idea is can read sensors be generalized

Comment out parallel communication for sensors 
AT91_PMC_PCER_PIOA); // enable parallel io-controller clock
question: Is this motor only related and not needed in port initialization code
result: leds worked, but motor did not





 
PMC and clocks see p.189 AT91SAM7S 

>> here
motor tests
- reset motor - looking for right place and way to reset motors during start-up and when
- read tacho counts - are interrupts needed?
Looking at interrupt controllers, but may be able to use a eCos thread and polling - but how accurate will it be?.

sensor routine
clean-up - move sensor and port initialization into its own area.