Diff: main.cpp

Revision:

42:fcb48e2fc426

Parent:

41:c04c2ec37aad

Child:

43:87bdce65341f

--- a/main.cpp	Wed Mar 18 12:25:33 2015 +0000
+++ b/main.cpp	Wed Mar 18 13:47:40 2015 +0000
@@ -6,11 +6,14 @@
 #include "Map.h"
 #include "AX12.h"
 
+
+#include "Odometry.h"
 #include "Asserv.h"
 #include "Motor.h"
 /*----------------------------------------------------------------------------------------------*/
 /*Serial*/    
-Serial logger(OUT_TX, OUT_RX); // tx, rx
+//Serial logger(OUT_TX, OUT_RX); // tx, rx
+Serial logger(USBTX,USBRX);
 /*----------------------------------------------------------------------------------------------*/
 
 /* --- Initialisation de la liste des obstable --- */
@@ -107,13 +110,15 @@
         logger.printf("3\r\n");
         float phi_r = instanceAsserv.getPhiR();
         float phi_l = instanceAsserv.getPhiL();
-        float phi_max = instanceAsserv.getPhiMax();
+        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) );
+        
         //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");
         //(instanceAsserv.getX()).afficherMblue();
         //blue.printf("Odometry : \n\r");
         //z.afficherMblue();  
+        
         motorR.setSpeed(phi_r/phi_max);
         motorL.setSpeed(phi_l/phi_max);