ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Diff: Asservissement/Asserv.h

Revision:
42:fcb48e2fc426
Parent:
41:c04c2ec37aad
Child:
43:87bdce65341f
--- a/Asservissement/Asserv.h	Wed Mar 18 12:25:33 2015 +0000
+++ b/Asservissement/Asserv.h	Wed Mar 18 13:47:40 2015 +0000
@@ -228,6 +228,7 @@
 template<typename T>
 Mat<T> motion_bicycle3( Mat<T> state, Mat<T> command, T dt)
 {
+    logger.printf("motion\r\n");
     Mat<T> bicycle(3,1);
     bicycle.set((T)36, 1,1);  /*radius*/
     bicycle.set((T)36, 2,1);
@@ -295,6 +296,7 @@
 template<typename T>
 Mat<T> jmotion_bicycle3( Mat<T> state, Mat<T> command, T dt)
 {
+    logger.printf("jmotion\r\n");
     T h = sqrt(numeric_limits<T>::epsilon())*norme2(state)+ pow(numeric_limits<T>::epsilon(), (T)0.5);
     Mat<T> var( (T)0, state.getLine(), state.getColumn());
     var.set( h, 1,1);