AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

Diff: odo_asserv.cpp

Revision:
11:e62133022f88
Parent:
10:0714feaaaee1
Child:
12:2c312916a621
--- 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