Diff: main.cpp

Revision:

41:c04c2ec37aad

Parent:

40:83ce8d1072ef

Child:

42:fcb48e2fc426

--- a/main.cpp	Tue Mar 17 14:38:54 2015 +0000
+++ b/main.cpp	Wed Mar 18 12:25:33 2015 +0000
@@ -91,16 +91,16 @@
     Asserv<float> instanceAsserv(&odometry);
     
     /*----------------------------------------------------------------------------------------------*/
-    instanceAsserv.setGoal( (float)10,(float)0, (float)PI/2);
+    instanceAsserv.setGoal( (float)10,(float)0, (float)0);
     
     logger.printf("Debut boucle.\r\n");
     
     while(1)
     {       
         //Asservissement :
-        logger.printf("1\r\n");
+        
         t.start();
-        logger.printf("2\r\n");
+        
         instanceAsserv.update((float)t.read());
         logger.printf("2\r\n");
         Mat<float> X( instanceAsserv.getX() );
@@ -113,7 +113,9 @@
         //blue.printf("State : \n\r");
         //(instanceAsserv.getX()).afficherMblue();
         //blue.printf("Odometry : \n\r");
-        //z.afficherMblue();       
+        //z.afficherMblue();  
+        motorR.setSpeed(phi_r/phi_max);
+        motorL.setSpeed(phi_l/phi_max);     
         
         //Timer Handling :
         t.stop();