Revision 23:a74135a0271d, committed 2020-10-28

Comitter:

Nanaud

Date:

Wed Oct 28 16:27:05 2020 +0000

Parent:

22:f891c2bce091

Child:

24:be2b2be6907b

Commit message:

avant => double to int

Changed in this revision

--- a/captUS.cpp	Tue Oct 27 17:27:33 2020 +0000
+++ b/captUS.cpp	Wed Oct 28 16:27:05 2020 +0000
@@ -46,7 +46,7 @@
 
     else if((objRecule[indice]==1) && (fnc == 2)) {
         //if ((distt[2] >= DISTLIM) && (distt[3] >= DISTLIM) && (distt[4] >= DISTLIM)) {
-            if (((distt[2] >= DISTLIM) && (distt[3] >= DISTLIM)  && (distt[4] >= DISTLIM)) || ((distt[2] < 0) && (distt[3] < 0)  && (distt[4] < 0))) {
+        if (((distt[2] >= DISTLIM) && (distt[3] >= DISTLIM)  && (distt[4] >= DISTLIM)) || ((distt[2] < 0) && (distt[3] < 0)  && (distt[4] < 0))) {
             wtt=1;
         }
 
@@ -77,6 +77,14 @@
     pc.printf("\n\r");
     */
 
+    pc.printf("distance[1] = %lf\n\r", distt[0]);
+    pc.printf("distance[2] = %lf\n\r", distt[1]);
+    pc.printf("distance[3] = %lf\n\r", distt[2]);
+    pc.printf("distance[4] = %lf\n\r", distt[3]);
+    pc.printf("distance[5] = %lf\n\r", distt[4]);
+    pc.printf("distance[6] = %lf\n\r", distt[5]);
+    pc.printf("\n\r");
+
     TimUS.reset();
     trigger=1;
     wait(0.00002);

--- a/debugPC.cpp	Tue Oct 27 17:27:33 2020 +0000
+++ b/debugPC.cpp	Wed Oct 28 16:27:05 2020 +0000
@@ -438,14 +438,15 @@
     //*/
 
     // bt
-    /*
-    bt.printf("distance[0] = %f\n\r", ::distance[0]);
-    bt.printf("distance[1] = %f\n\r", ::distance[1]);
-    bt.printf("distance[2] = %f\n\r", ::distance[2]);
-    bt.printf("distance[3] = %f\n\r", ::distance[3]);
-    bt.printf("distance[4] = %f\n\r", ::distance[4]);
-    bt.printf("distance[5] = %f\n\r", ::distance[5]);
-    */
+    
+    bt.printf("distance[1] = %lf\n\r", distt[0]);
+    bt.printf("distance[2] = %lf\n\r", distt[1]);
+    bt.printf("distance[3] = %lf\n\r", distt[2]);
+    bt.printf("distance[4] = %lf\n\r", distt[3]);
+    bt.printf("distance[5] = %lf\n\r", distt[4]);
+    bt.printf("distance[6] = %lf\n\r", distt[5]);
+    bt.printf("\n\r");
+    
 }
 
 void affCodeurs()

--- a/odo_asserv.cpp	Tue Oct 27 17:27:33 2020 +0000
+++ b/odo_asserv.cpp	Wed Oct 28 16:27:05 2020 +0000
@@ -3,7 +3,7 @@
 
 /* #define & constantes */
 #define VMAXROT 0.050
-#define VMAXLIN 0.100
+#define VMAXLIN 0.080
 #define entraxe 253 // (Valeur théorique = 255)
 const double coeffGLong = 5.956, coeffDLong = 5.956; // tics/millimètre
 
@@ -78,8 +78,8 @@
 // Ligne droite
 double erreurPreDist = 0;
 double deltaErreurDist = 0;
-const double coeffProDist = 0.0005; // 0.010 de base
-const double coeffDerDist = 0.0005; // 0.010 de base
+const double coeffProDist = 0.0004; // 0.010 de base
+const double coeffDerDist = 0.0004; // 0.010 de base
 
 // NEW NEW NEW NEW
 int fnc = 0;
@@ -163,7 +163,7 @@
             double deltaCommande = (abs(coeffPro * erreurAngle) + abs(coeffDer * deltaErreur));
 
             if(acc) {
-                cmdG = cmdG + 0.0005; // +0.0008
+                cmdG = cmdG + 0.0001; // +0.0008
                 cmdD = cmdG;
 
                 if (cmdG >= VMAXROT) acc = 0;
@@ -211,7 +211,7 @@
             double deltaCommande2 = (abs(coeffProDist * distanceCible) + abs(coeffDerDist * deltaErreurDist));
 
             if(acc) {
-                cmdG = cmdG + 0.001; // +0.0008
+                cmdG = cmdG + 0.0001; // +0.0008
                 cmdD = cmdG;
 
                 if (cmdG >= VMAXLIN) {