ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asserv_Plan_B/Scratch.h

Committer:
sype
Date:
2015-05-05
Revision:
108:890094ee202a

File content as of revision 108:890094ee202a:

/*float erreur_distance_g = distance_g-(m_odometry.getDistLeft()-memo_g); //- distance parcourue par la roue gauche depuis l'état 2
float erreur_distance_d = distance_d-(m_odometry.getDistRight()-memo_d);
cmd_g = erreur_distance_g*Kp_distance;
cmd_d = erreur_distance_d*Kp_distance;
m_motorL.setSpeed(cmd_g);
m_motorR.setSpeed(cmd_d);*/

/*void aserv_planB::control_speed()
{
    vitesse_d = m_odometry.getVitRight();
    vitesse_g = m_odometry.getVitLeft();

    erreur_g = consigne_g - vitesse_g;
    cmd_g = erreur_g*Kp;
    erreur_d = consigne_d - vitesse_d;
    cmd_d = erreur_d*Kp;

    m_motorL.setSpeed(cmd_g);
    m_motorR.setSpeed(cmd_d);
}*/