Diff: main.cpp

Revision:

44:d5f95af61243

Parent:

43:87bdce65341f

Child:

45:b7617d7cedce

--- a/main.cpp	Thu Mar 19 14:35:25 2015 +0000
+++ b/main.cpp	Fri Mar 20 12:12:07 2015 +0000
@@ -94,7 +94,7 @@
     Asserv<float> instanceAsserv(&odometry);
     
     /*----------------------------------------------------------------------------------------------*/
-    instanceAsserv.setGoal( (float)100,(float)0, (float)0);
+    instanceAsserv.setGoal( (float)150,(float)0, (float)0);
     
     logger.printf("Debut boucle.\r\n");
     
@@ -109,7 +109,11 @@
         float phi_r = instanceAsserv.getPhiR();
         float phi_l = instanceAsserv.getPhiL();
         float phi_max = instanceAsserv.getPhiMax();        
-        logger.printf(" x : %f ;\t y : %f ;\t theta : %f ;\t phiD = %f ;\t phiG = %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 ;\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));
+        //transpose(X).afficherMblue();
+        
         
         //pcs.printf("%f : %f : %f\n", (double)odometry.getX()*100,(double)odometry.getY()*100,(double)odometry.getTheta()*180/3.14);                                            
         //blue.printf("State : \n\r");