Diff: main.cpp

Revision:

62:454cd844fe1e

Parent:

60:546d7b43333b

Child:

63:fd9af0693e50

diff -r 0e99df5f29b0 -r 454cd844fe1e main.cpp
--- a/main.cpp	Thu Apr 09 16:54:15 2015 +0000
+++ b/main.cpp	Thu Apr 09 17:05:06 2015 +0000
@@ -9,6 +9,7 @@
 
 #include "Odometry.h"
 //#include "Asserv.h"
+#include "planB.h"
 #include "Motor.h"
 /*----------------------------------------------------------------------------------------------*/
 /*Serial*/    
@@ -84,14 +85,21 @@
     //Asserv<float> instanceAsserv(&odometry);
     
     /*----------------------------------------------------------------------------------------------*/
-    //instanceAsserv.setGoal( (float)0,(float)0, (float)PI/2);        
+    //instanceAsserv.setGoal( (float)0,(float)0, (float)PI/2);
+    
+    aserv_planB asserv(odometry,motorL,motorR);
+    
+    t.start();
     
     while(!testOdo)
     {
         //Asservissement :
         
-        t.start();
+        
         
+        asserv.update(t.read());
+        t.reset();
+          
         //instanceAsserv.update((float)t.read());        
         //Mat<float> X( instanceAsserv.getX() );        
         //float phi_r = (float)instanceAsserv.getPhiR();
@@ -112,13 +120,7 @@
         //z.afficherMblue();  
         
         //motorR.setSpeed(0.08+(phi_r/phi_max) );
-        //motorL.setSpeed(0.06+(phi_l/phi_max) );     
-        
-        //Timer Handling :
-        t.stop();        
-        //logger.printf("%f s ecoulee.\n\r", t.read());
-        t.reset();
-        t.start();                
+        //motorL.setSpeed(0.06+(phi_l/phi_max) );                   
     }