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Robot2016_2-0
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ARES
Asserv_Plan_B/Scratch.h@13:5355aed288b0, 2016-01-05 (annotated)
- Committer:
- IceTeam
- Date:
- Tue Jan 05 17:08:15 2016 +0000
- Revision:
- 13:5355aed288b0
Ajout du d?but de l'IA;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| IceTeam | 13:5355aed288b0 | 1 | /*float erreur_distance_g = distance_g-(m_odometry.getDistLeft()-memo_g); //- distance parcourue par la roue gauche depuis l'état 2 |
| IceTeam | 13:5355aed288b0 | 2 | float erreur_distance_d = distance_d-(m_odometry.getDistRight()-memo_d); |
| IceTeam | 13:5355aed288b0 | 3 | cmd_g = erreur_distance_g*Kp_distance; |
| IceTeam | 13:5355aed288b0 | 4 | cmd_d = erreur_distance_d*Kp_distance; |
| IceTeam | 13:5355aed288b0 | 5 | m_motorL.setSpeed(cmd_g); |
| IceTeam | 13:5355aed288b0 | 6 | m_motorR.setSpeed(cmd_d);*/ |
| IceTeam | 13:5355aed288b0 | 7 | |
| IceTeam | 13:5355aed288b0 | 8 | /*void aserv_planB::control_speed() |
| IceTeam | 13:5355aed288b0 | 9 | { |
| IceTeam | 13:5355aed288b0 | 10 | vitesse_d = m_odometry.getVitRight(); |
| IceTeam | 13:5355aed288b0 | 11 | vitesse_g = m_odometry.getVitLeft(); |
| IceTeam | 13:5355aed288b0 | 12 | |
| IceTeam | 13:5355aed288b0 | 13 | erreur_g = consigne_g - vitesse_g; |
| IceTeam | 13:5355aed288b0 | 14 | cmd_g = erreur_g*Kp; |
| IceTeam | 13:5355aed288b0 | 15 | erreur_d = consigne_d - vitesse_d; |
| IceTeam | 13:5355aed288b0 | 16 | cmd_d = erreur_d*Kp; |
| IceTeam | 13:5355aed288b0 | 17 | |
| IceTeam | 13:5355aed288b0 | 18 | m_motorL.setSpeed(cmd_g); |
| IceTeam | 13:5355aed288b0 | 19 | m_motorR.setSpeed(cmd_d); |
| IceTeam | 13:5355aed288b0 | 20 | }*/ |