ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asserv_Plan_B/planB.cpp@69:6354497f9f59, 2015-04-10 (annotated)

Committer:
sype
Date:
Fri Apr 10 05:13:51 2015 +0000
Revision:
69:6354497f9f59
Parent:
67:0bdf181586b5
Child:
70:56086a37f31f
Parametrage coef

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 62:454cd844fe1e 1 #include "planB.h"
Jagang 62:454cd844fe1e 2
Jagang 62:454cd844fe1e 3 aserv_planB::aserv_planB(Odometry &odometry,Motor &motorL,Motor &motorR) : m_odometry(odometry), m_motorL(motorL), m_motorR(motorR)
Jagang 62:454cd844fe1e 4 {
sype 64:6489bcfc1173 5 consigne_g = 10.0;
sype 64:6489bcfc1173 6 consigne_d = 10.0;
sype 64:6489bcfc1173 7 vitesse_g = 0;
sype 64:6489bcfc1173 8 vitesse_d = 0;
sype 64:6489bcfc1173 9 erreur_g = 0;
sype 64:6489bcfc1173 10 erreur_d = 0;
sype 64:6489bcfc1173 11 cmd_g = 0;
sype 64:6489bcfc1173 12 cmd_d = 0;
Jagang 67:0bdf181586b5 13 Kp = 0.01;
sype 64:6489bcfc1173 14 }
sype 64:6489bcfc1173 15
sype 64:6489bcfc1173 16 void aserv_planB::control_speed()
sype 64:6489bcfc1173 17 {
Jagang 67:0bdf181586b5 18 vitesse_g = m_odometry.getVitRight();
Jagang 67:0bdf181586b5 19 vitesse_d = m_odometry.getVitLeft();
Jagang 62:454cd844fe1e 20
sype 64:6489bcfc1173 21 erreur_g = consigne_g - vitesse_g;
sype 64:6489bcfc1173 22 cmd_g = erreur_g*Kp;
sype 64:6489bcfc1173 23 erreur_d = consigne_d - vitesse_d;
sype 64:6489bcfc1173 24 cmd_d = erreur_d*Kp;
sype 64:6489bcfc1173 25
sype 64:6489bcfc1173 26 m_motorL.setSpeed(cmd_g);
sype 64:6489bcfc1173 27 m_motorR.setSpeed(cmd_d);
Jagang 62:454cd844fe1e 28 }
Jagang 62:454cd844fe1e 29
Jagang 62:454cd844fe1e 30 void aserv_planB::update(float dt)
Jagang 62:454cd844fe1e 31 {
Jagang 67:0bdf181586b5 32 control_speed();
Jagang 62:454cd844fe1e 33 }