Diff: Asservissement/Asserv.h

Revision:

44:d5f95af61243

Parent:

43:87bdce65341f

Child:

47:4909e97570f6

--- a/Asservissement/Asserv.h	Thu Mar 19 14:35:25 2015 +0000
+++ b/Asservissement/Asserv.h	Fri Mar 20 12:12:07 2015 +0000
@@ -213,7 +213,7 @@
     {        
         /*Odometry*/
         this->odometry = odometry;
-        phi_max = (T)1.0;                       
+        phi_max = (T)100.0;                       
         
         /*KalmanFilter*/
         //double phi_max = 100;
@@ -316,8 +316,8 @@
             
             //instance.computeCommand(dX, (double)dt, -2);                    
             instanceEKF->computeCommand(dX, (T)dt, -2);                    
-            phi_r = instanceEKF->getCommand().get(1,1);
-            phi_l = instanceEKF->getCommand().get(2,1);                
+            phi_l = instanceEKF->getCommand().get(1,1);
+            phi_r = instanceEKF->getCommand().get(2,1);                
         }
         else
         {
@@ -338,7 +338,7 @@
         z->set( sqrt(vx*vx+vy*vy),4,1);
         z->set( (T)odometry->getW(),5,1); 
         
-        //z->afficherM();
+        //transpose(*z).afficherMblue();
     }            
     
     Mat<T> getX()