Diff: main.cpp

Revision:

45:b7617d7cedce

Parent:

44:d5f95af61243

Child:

47:4909e97570f6

--- a/main.cpp	Fri Mar 20 12:12:07 2015 +0000
+++ b/main.cpp	Fri Mar 20 15:50:35 2015 +0000
@@ -94,9 +94,7 @@
     Asserv<float> instanceAsserv(&odometry);
     
     /*----------------------------------------------------------------------------------------------*/
-    instanceAsserv.setGoal( (float)150,(float)0, (float)0);
-    
-    logger.printf("Debut boucle.\r\n");
+    instanceAsserv.setGoal( (float)150,(float)0, (float)0);        
     
     while(1)
     {       
@@ -111,7 +109,9 @@
         float phi_max = instanceAsserv.getPhiMax();        
         //logger.printf(" x : %f ;\t y : %f ;\t theta : %f ;\t VD = %f ;\t W = %f \n\r",X.get(1,1),X.get(2,1),X.get(3,1), X.get(4,1), X.get(5,1) );
         //logger.printf(" x : %f ;\t y : %f ;\t theta : %f ",X.get(1,1),X.get(2,1),X.get(3,1) );
-        logger.printf("PhiR = %f ; \t PhiL = %f ; \n\r",phi_r,phi_l);//X.get(4,1),X.get(5,1));
+        
+        //logger.printf("PhiR = %f ; \t PhiL = %f ; \n\r",phi_r,phi_l);//X.get(4,1),X.get(5,1));
+        
         //transpose(X).afficherMblue();
         
         
@@ -125,8 +125,8 @@
         motorL.setSpeed(phi_l/phi_max);     
         
         //Timer Handling :
-        t.stop();
-        logger.printf("%f s ecoulee.\n\r", t.read());
+        t.stop();        
+        //logger.printf("%f s ecoulee.\n\r", t.read());
         t.reset();
         t.start();                
     }