7Robot_Freescale / Mbed 2 deprecated freescal_cup_k22f

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Dependencies:   mbed freescal_cup_k22f

Dependents:   freescal_cup_k22f

Diff: source/main.cpp

Revision:
14:000be67805b2
Parent:
13:61c50db20069
Child:
15:b77dc649e4f3
--- a/source/main.cpp	Tue Jan 13 17:11:13 2015 +0000
+++ b/source/main.cpp	Tue Jan 13 18:47:33 2015 +0000
@@ -10,8 +10,8 @@
 
 //test de commit
 
-//Serial uart(PTD3, PTD2); //xbee
-Serial uart(USBTX, USBRX); //port série usb ACM0
+Serial uart(PTD3, PTD2); //xbee
+//Serial uart(USBTX, USBRX); //port série usb ACM0
 Servo servo(PTD0);
 AnalogIn pot1(PTC1);
 
@@ -33,7 +33,7 @@
         
         readline();
         passebas();
-        derivation();
+        //derivation();
         
         uart.printf("S");//debug START
         for (int indice_pixel=0; indice_pixel<128; indice_pixel++)   
@@ -49,16 +49,16 @@
                 max_detect=j;
             }
         }    
-        // Réduction de la vitesse moteur si l'angle du servo augmente
+        // Réduction proportionelle de la vitesse moteur si l'angle du servo augmente
         if (max_detect>64)
         {
-            consigne_moteur_1=6-(max_detect-64)/20.;
-            consigne_moteur_2=6-(max_detect-64)/15.;
+            consigne_moteur_1=7*(1-(max_detect-64)/20.);
+            consigne_moteur_2=7*(1-(max_detect-64)/15.);
         }
         else
         {
-            consigne_moteur_1=6-(64-max_detect)/15.;
-            consigne_moteur_2=6-(64-max_detect)/20.; 
+            consigne_moteur_1=7*(1-(64-max_detect)/15.);
+            consigne_moteur_2=7*(1-(64-max_detect)/20.); 
         }
         // Lecture du potentiometre
         Kp_servo=2.0*pot1.read_u16()/65000.0;