ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asserv_Plan_B/Scratch.h@108:890094ee202a, 2015-05-05 (annotated)

Committer:
sype
Date:
Tue May 05 16:35:42 2015 +0000
Revision:
108:890094ee202a
Asserv B, 6/10

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 108:890094ee202a 1 /*float erreur_distance_g = distance_g-(m_odometry.getDistLeft()-memo_g); //- distance parcourue par la roue gauche depuis l'état 2
sype 108:890094ee202a 2 float erreur_distance_d = distance_d-(m_odometry.getDistRight()-memo_d);
sype 108:890094ee202a 3 cmd_g = erreur_distance_g*Kp_distance;
sype 108:890094ee202a 4 cmd_d = erreur_distance_d*Kp_distance;
sype 108:890094ee202a 5 m_motorL.setSpeed(cmd_g);
sype 108:890094ee202a 6 m_motorR.setSpeed(cmd_d);*/
sype 108:890094ee202a 7
sype 108:890094ee202a 8 /*void aserv_planB::control_speed()
sype 108:890094ee202a 9 {
sype 108:890094ee202a 10 vitesse_d = m_odometry.getVitRight();
sype 108:890094ee202a 11 vitesse_g = m_odometry.getVitLeft();
sype 108:890094ee202a 12
sype 108:890094ee202a 13 erreur_g = consigne_g - vitesse_g;
sype 108:890094ee202a 14 cmd_g = erreur_g*Kp;
sype 108:890094ee202a 15 erreur_d = consigne_d - vitesse_d;
sype 108:890094ee202a 16 cmd_d = erreur_d*Kp;
sype 108:890094ee202a 17
sype 108:890094ee202a 18 m_motorL.setSpeed(cmd_g);
sype 108:890094ee202a 19 m_motorR.setSpeed(cmd_d);
sype 108:890094ee202a 20 }*/