Diff: Asservissement/Asserv.h

Revision:

41:c04c2ec37aad

Parent:

36:54f86bc6fd80

Child:

42:fcb48e2fc426

--- a/Asservissement/Asserv.h	Tue Mar 17 14:38:54 2015 +0000
+++ b/Asservissement/Asserv.h	Wed Mar 18 12:25:33 2015 +0000
@@ -16,6 +16,7 @@
 bool setPWM(PwmOut *servo,T p);
 int reduc = 16;
 
+extern Serial logger;
 
 /*---------------------------------------------------------------------------------------------------------*/
 /*---------------------------------------------------------------------------------------------------------*/
@@ -152,13 +153,15 @@
         {            
             dt = deltat;        
             /*Asservissement*/        
-            
-            this->measurementCallback(&z);                        
+            logger.printf("1\r\n");
+            this->measurementCallback(&z);
+            logger.printf("2\r\n");                        
             instanceEKF.measurement_Callback( z, dX, true );
-             
+            logger.printf("3\r\n"); 
             instanceEKF.state_Callback();
             //instance.setX(z);
             X = instanceEKF.getX();
+            X.afficherMblue();
             
             //instance.computeCommand(dX, (double)dt, -2);                    
             instanceEKF.computeCommand(dX, (T)dt, -2);