ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Diff: Asserv_Plan_B/planB.cpp

Revision:
67:0bdf181586b5
Parent:
64:6489bcfc1173
Child:
69:6354497f9f59
--- a/Asserv_Plan_B/planB.cpp	Thu Apr 09 17:43:57 2015 +0000
+++ b/Asserv_Plan_B/planB.cpp	Thu Apr 09 18:09:01 2015 +0000
@@ -10,13 +10,13 @@
     erreur_d = 0;
     cmd_g = 0;
     cmd_d = 0;
-    Kp = 0.05;
+    Kp = 0.01;
 }
 
 void aserv_planB::control_speed()
 {
-    vitesse_g = m_odometry.getVitLeft();
-    vitesse_d = m_odometry.getVitRight();
+    vitesse_g = m_odometry.getVitRight();
+    vitesse_d = m_odometry.getVitLeft();
     
     erreur_g = consigne_g - vitesse_g;
     cmd_g = erreur_g*Kp;
@@ -30,5 +30,5 @@
 
 void aserv_planB::update(float dt)
 {
-    
+    control_speed();
 }
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