ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Diff: Asserv_Plan_B/planB.h

Revision:
84:24d727006218
Parent:
79:d97090bb6470
Child:
85:8e95432d99d3
--- a/Asserv_Plan_B/planB.h	Tue Apr 14 18:33:18 2015 +0000
+++ b/Asserv_Plan_B/planB.h	Thu Apr 16 12:23:02 2015 +0000
@@ -9,6 +9,7 @@
     void update(float dt);
     void control_speed();
     void setGoal(float x, float y, float theta);
+    bool aserv_planB::isArrived(void) {return done;}
     float Kp, Ki, Kd;
 
 private:
@@ -21,7 +22,6 @@
     float cmd_g, cmd_d;
     float consigne_g, consigne_d;
     float somme_erreur, somme_erreur_d;
-    float delta_erreur;
     float erreur_precedente;
     float m_goalX, m_goalY, m_goalTheta;
     bool done;