PSL_2021 / servomotor_MX12_Lorenzo

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Dependents:   PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6

Diff: MX12.cpp

Revision:
32:5f44c2239b7b
Parent:
30:4e7cf52ac2dd
--- a/MX12.cpp	Fri Feb 04 09:22:50 2022 +0000
+++ b/MX12.cpp	Fri Mar 18 10:04:50 2022 +0000
@@ -375,7 +375,7 @@
 void MX12::cmd_moteur(float Vavance, float Vlat, float Wz)
 {
     // mettre en mode wh
-    char data[2];
+/*    char data[2];
     data[1] = 0;
     data[0] = 0;
     _bus_state = SerialState::Writing;
@@ -388,7 +388,7 @@
     rw(1, CONTROL_TABLE_CCW_ANGLE_LIMIT, 2, data);
     rw(2, CONTROL_TABLE_CCW_ANGLE_LIMIT, 2, data);
     rw(3, CONTROL_TABLE_CCW_ANGLE_LIMIT, 2, data);
-
+*/
     float W1;
     float W2;
     float W3;
@@ -432,7 +432,7 @@
     W1=1/R*(-cosf(a1)*Vavance + sinf(a1)*y1*Wz - sinf(a1)*Vlat + cosf(a1)*x1*Wz); //loi de commande moteur 1
     W2=1/R*(-cosf(a2)*Vavance + sinf(a2)*y2*Wz - sinf(a2)*Vlat + cosf(a2)*x2*Wz);
     W3=1/R*(-cosf(a3)*Vavance + sinf(a3)*y3*Wz - sinf(a3)*Vlat + cosf(a3)*x3*Wz);
-    printf("%d %d %dn\r",(int)(1000*W1),(int)(1000*W2),(int)(1000*W3));
+    //printf("%d %d %dn\r",(int)(1000*W1),(int)(1000*W2),(int)(1000*W3));
 
 
     SetSpeed_rad_s(1,W1);  // impose la vitesse au moteur 1