Diff: main.cpp

Revision:

70:56086a37f31f

Parent:

69:6354497f9f59

Child:

71:95d76c181b22

--- a/main.cpp	Fri Apr 10 05:13:51 2015 +0000
+++ b/main.cpp	Fri Apr 10 15:23:05 2015 +0000
@@ -86,12 +86,12 @@
     while(!testOdo)
     {
         //Parametrage des coef par bluetooth
-        /*while(logger.readable()) {
+        while(logger.readable()) {
             char c = logger.getc();
-            if(c=='a') Kp += 0.001;
-            else if(c=='z') Kp -= 0.001;
-            logger.printf("%f",Kp);
-        }*/
+            if(c=='a') asserv.Kp += 0.001;
+            else if(c=='z') asserv.Kp -= 0.001;
+            //logger.printf("%f\n\r",asserv.Kp);
+        }
         
         //Asservissement :
         
@@ -99,7 +99,7 @@
         asserv.update(t.read());
         t.reset();
         
-        //logger.printf("%f %f %f\r\n",odometry.getVitLeft(),odometry.getVitRight(),t.read());
+        //logger.printf("%f %f\r\n",odometry.getVitLeft(),odometry.getVitRight());
           
         //instanceAsserv.update((float)t.read());        
         //Mat<float> X( instanceAsserv.getX() );