Diff: Asserv_Plan_B/planB.h

Revision:

94:5c37bcf73d14

Parent:

85:8e95432d99d3

Child:

100:a827a645d6c2

--- a/Asserv_Plan_B/planB.h	Fri Apr 24 11:12:44 2015 +0000
+++ b/Asserv_Plan_B/planB.h	Thu Apr 30 16:03:55 2015 +0000
@@ -9,10 +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 carre(float x) {return x*x;}
-    float Kp_angle, Kd_angle;
-    float Kp_distance, Ki_distance, Kd_distance;
+    float Kp, Ki, Kd;
 
 private:
     Odometry2 &m_odometry;
@@ -24,13 +21,13 @@
     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;
-    float distance_g, distance_d;
-    float thetaGoal;
-    float memo_g, memo_d;
     bool done;
     int N;
+    float moyenne;
+    float limite;
     
     char state;
     //char etat_angle;