Diff: main.cpp

Revision:

47:4909e97570f6

Parent:

45:b7617d7cedce

Child:

48:cb3ebbc27db3

--- a/main.cpp	Tue Mar 24 09:17:11 2015 +0000
+++ b/main.cpp	Thu Mar 26 18:04:23 2015 +0000
@@ -12,8 +12,9 @@
 #include "Motor.h"
 /*----------------------------------------------------------------------------------------------*/
 /*Serial*/    
-Serial logger(OUT_TX, OUT_RX); // tx, rx
-//Serial logger(USBTX,USBRX);
+//Serial logger(OUT_TX, OUT_RX); // tx, rx
+Serial logger(USBTX,USBRX);
+logger.baud(115200);
 /*----------------------------------------------------------------------------------------------*/
 
 /* --- Initialisation de la liste des obstable --- */
@@ -88,15 +89,15 @@
         wait(1);
         motorR.setSpeed(0.0);
     }*/
-    bool testOdo = false;
+    bool testOdo = true;
     
     
     Asserv<float> instanceAsserv(&odometry);
     
     /*----------------------------------------------------------------------------------------------*/
-    instanceAsserv.setGoal( (float)150,(float)0, (float)0);        
+    instanceAsserv.setGoal( (float)200,(float)0, (float)0);        
     
-    while(1)
+    while(!testOdo)
     {       
         //Asservissement :
         
@@ -104,9 +105,9 @@
         
         instanceAsserv.update((float)t.read());        
         Mat<float> X( instanceAsserv.getX() );        
-        float phi_r = instanceAsserv.getPhiR();
-        float phi_l = instanceAsserv.getPhiL();
-        float phi_max = instanceAsserv.getPhiMax();        
+        float phi_r = (float)instanceAsserv.getPhiR();
+        float phi_l = (float)instanceAsserv.getPhiL();
+        float phi_max = (float)instanceAsserv.getPhiMax();        
         //logger.printf(" x : %f ;\t y : %f ;\t theta : %f ;\t VD = %f ;\t W = %f \n\r",X.get(1,1),X.get(2,1),X.get(3,1), X.get(4,1), X.get(5,1) );
         //logger.printf(" x : %f ;\t y : %f ;\t theta : %f ",X.get(1,1),X.get(2,1),X.get(3,1) );
         
@@ -134,11 +135,8 @@
     
     while(1)
     {
-        //setPWM(&pw1,0.0);
-        //setPWM(&pw2,0.0);
-        pw1.write(0.0);
-        pw2.write(0.0);
-        led = !led;
+        motorR.setSpeed(1.0);
+        motorL.setSpeed(1.0);
         wait(1);
     }
 }