Diff: odo_asserv_2.cpp

Revision:

13:a72b0752aa6f

Parent:

12:2c312916a621

Child:

14:dd3c756c6d48

--- a/odo_asserv_2.cpp	Fri Sep 11 13:47:56 2020 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,66 +0,0 @@
-//Nom du fichier : odo_asserv_2.cpp
-#include "pins.h"
-
-///// VARIABLES
-
-Ticker ticker_odo_2;
-
-// Coeff à définir empiriquement
-const double coeffGLong = 5.956, coeffDLong = -5.956; // constantes permettant la transformation tic/millimètre
-//const double coeffGAngl = 12.4516203705, coeffDAngl = 12.725; // constantes permettant la transformation tic/degré
-const double coeffGAngl = 12*2*Pi*53791, coeffDAngl = 12*2*Pi*54972; // constantes permettant la transformation tic/radian
-
-long comptG = 0, comptD = 0; // nb de tics comptés pour chaque codeur
-
-///// INTERRUPTIONS CODEURS
-
-void cdgaRise()
-{
-    if(cdgB) comptG++;
-    else comptG--;
-}
-
-void cddaRise()
-{
-    if(cddB) comptD++;
-    else comptD--;
-}
-
-///// ODOMÉTRIE
-
-// Variables et constantes
-#define NbPulseCodeur 1000
-#define entraxe 245
-
-float x = 0, y = 0, phi = 0;
-float phi_deg;
-float x0 = 0, y0 = 0, phi0 = 0;
-float dDist = 0, dAngl = 0;
-float distG = 0, distD = 0; // Distance parcourue par chaque roue
-
-void odometrie()
-{
-    x0 = x;
-    y0 = y;
-    phi0 = phi;
-
-    dDist = ((comptG / coeffGLong) + (comptD / coeffDLong)) / 2;
-    dAngl = ((comptD / coeffDAngl) - (comptG / coeffGAngl)) / entraxe;
-
-    x = x0 + dDist * cos(phi0);
-    y = y0 + dDist * sin(phi0);
-    phi = phi0 + dAngl;
-    phi_deg = phi*180/Pi;
-    
-    
-    comptG = 0;
-    comptD = 0;
-}
-
-
-///// CONSIGNE ANGLE
-
-void angle()
-{
-    
-}
\ No newline at end of file