Diff: main.cpp

Revision:

43:87bdce65341f

Parent:

42:fcb48e2fc426

Child:

44:d5f95af61243

--- a/main.cpp	Wed Mar 18 13:47:40 2015 +0000
+++ b/main.cpp	Thu Mar 19 14:35:25 2015 +0000
@@ -12,8 +12,8 @@
 #include "Motor.h"
 /*----------------------------------------------------------------------------------------------*/
 /*Serial*/    
-//Serial logger(OUT_TX, OUT_RX); // tx, rx
-Serial logger(USBTX,USBRX);
+Serial logger(OUT_TX, OUT_RX); // tx, rx
+//Serial logger(USBTX,USBRX);
 /*----------------------------------------------------------------------------------------------*/
 
 /* --- Initialisation de la liste des obstable --- */
@@ -94,7 +94,7 @@
     Asserv<float> instanceAsserv(&odometry);
     
     /*----------------------------------------------------------------------------------------------*/
-    instanceAsserv.setGoal( (float)10,(float)0, (float)0);
+    instanceAsserv.setGoal( (float)100,(float)0, (float)0);
     
     logger.printf("Debut boucle.\r\n");
     
@@ -104,10 +104,8 @@
         
         t.start();
         
-        instanceAsserv.update((float)t.read());
-        logger.printf("2\r\n");
-        Mat<float> X( instanceAsserv.getX() );
-        logger.printf("3\r\n");
+        instanceAsserv.update((float)t.read());        
+        Mat<float> X( instanceAsserv.getX() );        
         float phi_r = instanceAsserv.getPhiR();
         float phi_l = instanceAsserv.getPhiL();
         float phi_max = instanceAsserv.getPhiMax();        
@@ -139,4 +137,4 @@
         led = !led;
         wait(1);
     }
-}
\ No newline at end of file
+}