Diff: odo_asserv.cpp

Revision:

24:be2b2be6907b

Parent:

23:a74135a0271d

--- a/odo_asserv.cpp	Wed Oct 28 16:27:05 2020 +0000
+++ b/odo_asserv.cpp	Wed Oct 28 20:08:39 2020 +0000
@@ -2,8 +2,8 @@
 #include "pins.h"
 
 /* #define & constantes */
-#define VMAXROT 0.050
-#define VMAXLIN 0.080
+#define VMAXROT 0.020
+#define VMAXLIN 0.040
 #define entraxe 253 // (Valeur théorique = 255)
 const double coeffGLong = 5.956, coeffDLong = 5.956; // tics/millimètre
 
@@ -16,10 +16,20 @@
 int objRecule[NbObj]= {0,0,0,0,1,0,0,1,0,0,1,0,0};
 */
 
+/*
 int objEtape[NbObj] = {0,1,1,1,1,1,1,1,1,1,1,1,1}; // Stratégie côté bleu
 double objX[NbObj] =  {110,645,645,200,645,336,189,200,645,468,645,371,215};
 double objY[NbObj] =  {1085,1200,1400,1400,1400,1788,1032,1200,920,920,920,519,780};
 int objRecule[NbObj]= {0,0,0,0,1,0,0,1,0,0,1,0,0};
+*/
+
+
+//int objEtape[NbObj] = {0,1,1,1}; // Stratégie côté bleu
+int objEtape [4] = {0,1,1,1};
+double objX[4] = {0,660, 660, 210};
+double objY[4] = {0,1070,1650,1300};
+int objRecule[NbObj]= {0,0,0,0};
+
 
 /* Variable globale */
 Ticker Ticker_asserv;
@@ -72,14 +82,14 @@
 double erreurAngle = 0;
 double erreurPre = 0;
 double deltaErreur = 0;
-const double coeffPro = 0.075; // 0.023 de base
-const double coeffDer = 0.060; // 0.023 de base
+const double coeffPro = 0.020; // 0.023 de base
+const double coeffDer = 0.010; // 0.023 de base
 
 // Ligne droite
 double erreurPreDist = 0;
 double deltaErreurDist = 0;
-const double coeffProDist = 0.0004; // 0.010 de base
-const double coeffDerDist = 0.0004; // 0.010 de base
+const double coeffProDist = 0.0008; // 0.010 de base
+const double coeffDerDist = 0.0008; // 0.010 de base
 
 // NEW NEW NEW NEW
 int fnc = 0;
@@ -163,7 +173,7 @@
             double deltaCommande = (abs(coeffPro * erreurAngle) + abs(coeffDer * deltaErreur));
 
             if(acc) {
-                cmdG = cmdG + 0.0001; // +0.0008
+                cmdG = cmdG + 0.0008; // +0.0008
                 cmdD = cmdG;
 
                 if (cmdG >= VMAXROT) acc = 0;
@@ -211,7 +221,7 @@
             double deltaCommande2 = (abs(coeffProDist * distanceCible) + abs(coeffDerDist * deltaErreurDist));
 
             if(acc) {
-                cmdG = cmdG + 0.0001; // +0.0008
+                cmdG = cmdG + 0.0006; // +0.0008
                 cmdD = cmdG;
 
                 if (cmdG >= VMAXLIN) {