File content as of revision 0:7bc294a0862d:

#include "MX12.h"
//extern UnbufferedSerial pc_serie(USBTX,USBRX,115200);
void cmd_moteur(float Vtm_s, float Vnm_s, float Wcrd_s){
    static MX12  servo(PC_4,PC_5,115200);
    float coeff=578.7/1023;
    float W1;
    float W2;
    float W3;
    float Rc;
    float R;
    float Vtc;
    float Vnc;
    float Wcc;
    float Vtm_smax;
    float Vnm_smax;
    float Wcrd_smax;
    Rc=0.08;  // rayon du chassis*10
    R=0.019;  // rayon de la roue*10
    W1=0;
    W2=0;
    W3=0;
    //Vtm_smax=0.8; //sert pour calculer valeurs -999->999
    //Vnm_smax=0.9;
    //Wcrd_smax=2.9;
    //if (Vtm_s>Vtm_smax)
       // {Vtm_s=Vtm_smax;}
    //if (Vnm_s>Vnm_smax)
      //  {Vnm_s=Vnm_smax;}
    //if (Wcrd_s>Wcrd_smax)
      //  {Wcrd_s=Wcrd_smax;}
    //if (Wcrd_s<-Wcrd_smax)
      //  {Wcrd_s=-Wcrd_smax;}
 
    W1=(Wcrd_s*Rc-0.5*Vnm_s+0.866*Vtm_s)*coeff; //loi de commande moteur 1
    W2=(Wcrd_s*Rc-0.5*Vnm_s-0.866*Vtm_s)*coeff;
    W3=(Wcrd_s*Rc+Vnm_s)*coeff;
    printf("%d %d %dn\r",(int)(1000*W1),(int)(1000*W2),(int)(1000*W3));
  
    
    servo.SetSpeed(1,W1);  // impose la vitesse au moteur 1
    servo.SetSpeed(2,W2);
    servo.SetSpeed(3,W3);
 

    
    }