Diff: Asserv_Plan_B/planB.cpp

Revision:

104:62702cd390f3

Parent:

86:2fbe5db2627f

--- a/Asserv_Plan_B/planB.cpp	Fri Apr 24 11:12:44 2015 +0000
+++ b/Asserv_Plan_B/planB.cpp	Mon May 04 05:54:52 2015 +0000
@@ -31,20 +31,6 @@
     state = 2; // Etat de rotation 1
 }
 
-/*void aserv_planB::control_speed()
-{
-    vitesse_d = m_odometry.getVitRight();
-    vitesse_g = m_odometry.getVitLeft();
-
-    erreur_g = consigne_g - vitesse_g;
-    cmd_g = erreur_g*Kp;
-    erreur_d = consigne_d - vitesse_d;
-    cmd_d = erreur_d*Kp;
-
-    m_motorL.setSpeed(cmd_g);
-    m_motorR.setSpeed(cmd_d);
-}*/
-
 void aserv_planB::update(float dt)
 {
     // Etat 1 : Angle theta pour viser dans la direction du point M(x,y)
@@ -99,3 +85,17 @@
         m_motorR.setSpeed(0);
     }
 }
+
+/*void aserv_planB::control_speed()
+{
+    vitesse_d = m_odometry.getVitRight();
+    vitesse_g = m_odometry.getVitLeft();
+
+    erreur_g = consigne_g - vitesse_g;
+    cmd_g = erreur_g*Kp;
+    erreur_d = consigne_d - vitesse_d;
+    cmd_d = erreur_d*Kp;
+
+    m_motorL.setSpeed(cmd_g);
+    m_motorR.setSpeed(cmd_d);
+}*/
\ No newline at end of file