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:
15:b77dc649e4f3
Parent:
14:000be67805b2
Child:
16:88433b5650df
--- a/source/main.cpp	Tue Jan 13 18:47:33 2015 +0000
+++ b/source/main.cpp	Wed Jan 14 18:41:06 2015 +0000
@@ -32,9 +32,10 @@
     while(1){
         
         readline();
-        passebas();
+        passebas(2);
         //derivation();
-        
+        //passebas(4); 
+           
         uart.printf("S");//debug START
         for (int indice_pixel=0; indice_pixel<128; indice_pixel++)   
         {
@@ -52,13 +53,13 @@
         // Réduction proportionelle de la vitesse moteur si l'angle du servo augmente
         if (max_detect>64)
         {
-            consigne_moteur_1=7*(1-(max_detect-64)/20.);
-            consigne_moteur_2=7*(1-(max_detect-64)/15.);
+            consigne_moteur_1=6*(1-(max_detect-64)/150.);
+            consigne_moteur_2=6*(1-(max_detect-64)/100.);
         }
         else
         {
-            consigne_moteur_1=7*(1-(64-max_detect)/15.);
-            consigne_moteur_2=7*(1-(64-max_detect)/20.); 
+            consigne_moteur_1=7*(1-(64-max_detect)/100.);
+            consigne_moteur_2=7*(1-(64-max_detect)/150.); 
         }
         // Lecture du potentiometre
         Kp_servo=2.0*pot1.read_u16()/65000.0;