Diff: Asserv_Plan_B/planB.h

Revision:

85:8e95432d99d3

Parent:

84:24d727006218

Child:

93:4d5664e9188a

Child:

94:5c37bcf73d14

--- a/Asserv_Plan_B/planB.h	Thu Apr 16 12:23:02 2015 +0000
+++ b/Asserv_Plan_B/planB.h	Sat Apr 18 09:39:15 2015 +0000
@@ -10,7 +10,9 @@
     void control_speed();
     void setGoal(float x, float y, float theta);
     bool aserv_planB::isArrived(void) {return done;}
-    float Kp, Ki, Kd;
+    float carre(float x) {return x*x;}
+    float Kp_angle, Kd_angle;
+    float Kp_distance, Ki_distance, Kd_distance;
 
 private:
     Odometry2 &m_odometry;
@@ -24,10 +26,11 @@
     float somme_erreur, somme_erreur_d;
     float erreur_precedente;
     float m_goalX, m_goalY, m_goalTheta;
+    float distance_g, distance_d;
+    float thetaGoal;
+    float memo_g, memo_d;
     bool done;
     int N;
-    float moyenne;
-    float limite;
     
     char state;
     //char etat_angle;