Diff: Asservissement/Asserv.h

Revision:

87:e8b64b4174b8

Parent:

81:08eacb6179d8

Child:

89:d05001d85a02

--- a/Asservissement/Asserv.h	Tue Apr 14 18:33:18 2015 +0000
+++ b/Asservissement/Asserv.h	Sat Apr 18 08:29:42 2015 +0000
@@ -353,11 +353,11 @@
             
             int behaviour = 0; //alpha : 1 : rho : 2 : dX (beta)
             Mat<T> dXbehaviour(dX);
-            if(isarrivedalpha &&  && phi_l+phi_r <= phi_max/10)
+            if(isarrivedalpha && phi_l+phi_r <= phi_max/10)
             {
                 behaviour=1;
             }
-            if(isarrivedalpha && isarrivedrho &&  && phi_l+phi_r <= phi_max/10)
+            if(isarrivedalpha && isarrivedrho && phi_l+phi_r <= phi_max/10)
             {
                 behaviour = 2;
             }
@@ -410,7 +410,7 @@
                 isarrivedrho = true;
                 
 #ifdef debugAsserv
-            logger.printf("BEHAVIOUR ASSERV : %d\r\n", behabiour);
+            logger.printf("BEHAVIOUR ASSERV : %d\r\n", behaviour);
 #endif 
             instanceEKF->measurement_Callback( z, dXbehaviour, true );            
             //instanceEKF->state_Callback();