AresENSEA-CDF2020
/
AresCDFMainCode
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Revision 11:e62133022f88, committed 2020-09-11
- Comitter:
- Nanaud
- Date:
- Fri Sep 11 11:11:56 2020 +0000
- Parent:
- 10:0714feaaaee1
- Child:
- 12:2c312916a621
- Commit message:
- 11.09.20
Changed in this revision
| odo_asserv.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/odo_asserv.cpp Fri Sep 11 10:56:08 2020 +0000 +++ b/odo_asserv.cpp Fri Sep 11 11:11:56 2020 +0000 @@ -5,7 +5,8 @@ // Coeff à définir empiriquement const double coeffGLong = 5.956, coeffDLong = -5.956; // constantes permettant la transformation tic/millimètre -const double coeffGAngl = 12.75, coeffDAngl = 12.44; // constantes permettant la transformation tic/degré +//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