Diff: Asserv_Plan_B/planB.h

Revision:

116:73d7d87e0299

Parent:

113:a30ae31795e8

Child:

118:09bfc62d4867

--- a/Asserv_Plan_B/planB.h	Wed May 06 06:51:49 2015 +0000
+++ b/Asserv_Plan_B/planB.h	Wed May 06 11:14:02 2015 +0000
@@ -13,7 +13,7 @@
     void control_speed();
     void setGoal(float x, float y, float theta);
     void setGoal(float x, float y);
-    void aserv_planB::stop(void);
+    void stop(void);
     bool isArrived(void) {return arrived;}
     float carre(float x) {return x*x;}
     float Kp_angle, Kd_angle, Ki_angle;
@@ -24,28 +24,23 @@
     Motor &m_motorL;
     Motor &m_motorR;
     
-    float erreur_g, vitesse_g;
-    float erreur_d, vitesse_d;
+    float cmd;
     float cmd_g, cmd_d;
-    float consigne_g, consigne_d;
-    float somme_erreur, somme_erreur_d;
-    float erreur_precedente;
-    float m_goalX, m_goalY, m_goalPhi;
+    float limite;
+    
+    float somme_erreur_theta, somme_erreur_distance;
+    float delta_erreur_theta, delta_erreur_distance;
+    float erreur_precedente_theta, erreur_precedente_distance;
     float distanceGoal, distance;
     float thetaGoal;
-    float memo_g, memo_d;
-    float limite;
+    
+    float m_goalX, m_goalY, m_goalPhi;
+    
     bool arrived, squip;
     int N;
     
     char state;
     //char etat_angle;
-    
-    float cmd;
-    float erreur_position_g, position_g;
-    float erreur_position_d, position_d;
-    float consigne_position_g, consigne_position_d;
-
 };