AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
Diff: odo_asserv.cpp
- Revision:
- 11:e62133022f88
- Parent:
- 10:0714feaaaee1
- Child:
- 12:2c312916a621
diff -r 0714feaaaee1 -r e62133022f88 odo_asserv.cpp --- 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