Diff: main.cpp

Revision:

103:6a38cc0765f5

Parent:

98:2ec4e17dfc92

Child:

106:05096985d1b2

Child:

109:53918ba98306

--- a/main.cpp	Mon May 04 06:18:48 2015 +0000
+++ b/main.cpp	Mon May 04 13:00:28 2015 +0000
@@ -1,8 +1,8 @@
 #include "mbed.h"
 
-#define PLAN_A
+#define PLAN_B
+#define OUT_USB
 
-#define OUT_USB
 #include "defines.h"
 
 #include "QEI.h"
@@ -69,12 +69,12 @@
     QEI qei_right(PB_3,PA_10,NC,1024*4,QEI::X4_ENCODING);
     QEI qei_left(PB_4,PB_5,NC,1024*4,QEI::X4_ENCODING);
     
-    Odometry odometry(&qei_left,&qei_right,63/2.,63/2.,255);
+    Odometry odometry(&qei_left,&qei_right,63.84/2.,63.65/2.,252);
 #else
     QEI qei_left(ODO_G_A,ODO_G_B,NC,1024*4,QEI::X4_ENCODING);
     QEI qei_right(ODO_D_A,ODO_D_B,NC,1024*4,QEI::X4_ENCODING);
     
-    Odometry2 odometry(&qei_left,&qei_right,63/2.,63/2.,255);
+    Odometry2 odometry(&qei_left,&qei_right,63.84/2.,63.65/2.,252);
 #endif
 
 //         Decl. Asserv         //
@@ -148,7 +148,7 @@
     ax12_pince.setGoal(PINCE_FERMEE);
     ax12_brasG.setGoal(BRASG_OUVERT);
     ax12_brasD.setGoal(BRASD_OUVERT);
-    wait(1.5);
+    wait(0.5);
     ax12_pince.setGoal(PINCE_OUVERTE);
     ax12_brasG.setGoal(BRASG_FERME);
     ax12_brasD.setGoal(BRASD_FERME);
@@ -217,6 +217,8 @@
     #else
         asserv.setGoal(45,45,0);
     #endif
+    
+    while(1);
 }
 
 void update()