ARES / Mbed 2 deprecated Robot 2015

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Dependencies:   mbed

Diff: main.cpp

Revision:
88:77d6ced9977e
Parent:
87:e8b64b4174b8
Child:
89:d05001d85a02
--- a/main.cpp	Sat Apr 18 08:29:42 2015 +0000
+++ b/main.cpp	Sat Apr 18 08:40:24 2015 +0000
@@ -95,7 +95,7 @@
     
     #ifdef PLAN_A
         Asserv<float> instanceAsserv(&odometry);
-        instanceAsserv.setGoal((float)0.0,(float)0.0,(float)PI/2);
+        instanceAsserv.setGoal((float)0.0,(float)0.0,(float)PI/4);
         
         char state = 0;
         
@@ -113,8 +113,8 @@
             float phi_l = (float)instanceAsserv.getPhiL();
             float phi_max = (float)instanceAsserv.getPhiMax();
             
-            motorR.setSpeed(0.08+(phi_r/phi_max));
-            motorL.setSpeed(0.06+(phi_l/phi_max));
+            motorR.setSpeed(/*0.08+*/(phi_r/phi_max));
+            motorL.setSpeed(/*0.06+*/(phi_l/phi_max));
 //#define test
 #ifdef test            
             if(state == 0 && instanceAsserv.isArrivedRho())