Diff: Asservissement/Asserv.h

Revision:

97:70bb90e8fe90

Parent:

96:5a60caa2410a

Child:

107:a6e498b5706c

--- a/Asservissement/Asserv.h	Thu Apr 30 17:03:26 2015 +0000
+++ b/Asservissement/Asserv.h	Sun May 03 16:02:17 2015 +0000
@@ -1,6 +1,6 @@
 /*KalmanFilter*/
 #include "EKF.h"
-#include "Odometry.h"
+#include "Odometry2.h"
 //#define debugAsserv
 #define verboseGOAL
 
@@ -502,8 +502,10 @@
         z->set( (double)/*conversionUnitée rad*/theta, 3,1);//odometry->getTheta(), 3,1);   
         
         //State : phi_l phi_r
-        z->set( (T)this->odometry->getPhileft(),4,1);
-        z->set( (T)this->odometry->getPhiright(),5,1); 
+        //z->set( (T)this->odometry->getPhileft(),4,1);
+        //z->set( (T)this->odometry->getPhiright(),5,1); 
+        z->set( (T)this->odometry->getVitLeft(),4,1);
+        z->set( (T)this->odometry->getVitRight(),5,1); 
         
         //transpose(*z).afficherMblue();
     }