ARES
/
Timer
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Robot2016_2-0
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ARES
Diff: Asserv_Plan_B/Scratch.h
- Revision:
- 13:5355aed288b0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Asserv_Plan_B/Scratch.h Tue Jan 05 17:08:15 2016 +0000
@@ -0,0 +1,20 @@
+/*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);
+}*/
\ No newline at end of file