ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Diff: Asserv_Plan_B/planB.cpp

Revision:
100:a827a645d6c2
Parent:
94:5c37bcf73d14
Parent:
93:4d5664e9188a
Child:
101:78dc61bd330d
--- a/Asserv_Plan_B/planB.cpp	Thu Apr 30 16:14:39 2015 +0000
+++ b/Asserv_Plan_B/planB.cpp	Thu Apr 30 16:16:29 2015 +0000
@@ -60,10 +60,9 @@
         float thetaGoal = atan2(m_goalY-m_odometry.getY(),m_goalX-m_odometry.getX());
 
         float erreur_theta = thetaGoal-m_odometry.getTheta();
-        if(erreur_theta <= PI) erreur_theta += 2.0*PI;
-        if(erreur_theta >= PI) erreur_theta -= 2.0*PI;
-
-        logger.printf("%.2f\r\n",erreur_theta*180/PI);
+        
+        if(erreur_theta <= PI) erreur_theta += 2.0f*PI;
+        if(erreur_theta >= PI) erreur_theta -= 2.0f*PI;
         
         /*if(erreur_theta < 0) etat_angle = 1;
         else if(erreur_theta > 0) etat_angle = 2;