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:
6:a4e49784b533
Parent:
5:4d1a524433ca
Child:
12:3384196374ca
--- a/source/main.cpp	Tue Jan 13 16:35:04 2015 +0000
+++ b/source/main.cpp	Tue Jan 13 17:03:09 2015 +0000
@@ -47,10 +47,19 @@
             {
                 max_detect=j;
             }
+        }    
+        // Réduction 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.;
         }
-        
-        //servo = float(min_detect-indexMin)/float(indexMax-indexMin);
-        servo = 1.6*(double(max_detect)/128.-0.5)+0.5;
+        else
+        {
+            consigne_moteur_1=6-(64-max_detect)/15.;
+            consigne_moteur_2=6-(64-max_detect)/20.; 
+        }
+        servo = 1.4*(double(max_detect)/128.-0.5)+0.5;
 
     }
 }