Diff: Asserv_Plan_B/planB.h

Revision:

79:d97090bb6470

Parent:

71:95d76c181b22

Child:

84:24d727006218

--- a/Asserv_Plan_B/planB.h	Sat Apr 11 10:36:56 2015 +0000
+++ b/Asserv_Plan_B/planB.h	Tue Apr 14 18:27:53 2015 +0000
@@ -8,7 +8,6 @@
     aserv_planB(Odometry2 &odometry,Motor &motorL,Motor &motorR);
     void update(float dt);
     void control_speed();
-    void control_position();
     void setGoal(float x, float y, float theta);
     float Kp, Ki, Kd;
 
@@ -21,12 +20,19 @@
     float erreur_d, vitesse_d;
     float cmd_g, cmd_d;
     float consigne_g, consigne_d;
-    float somme_erreur_g, somme_erreur_d;
-    
+    float somme_erreur, somme_erreur_d;
+    float delta_erreur;
+    float erreur_precedente;
     float m_goalX, m_goalY, m_goalTheta;
+    bool done;
+    int N;
+    float moyenne;
+    float limite;
     
     char state;
+    //char etat_angle;
     
+    float cmd;
     float erreur_position_g, position_g;
     float erreur_position_d, position_d;
     float consigne_position_g, consigne_position_d;