Paclay-Saris pod racers / Mbed 2 deprecated Algo_charges_fictives_3

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Dependencies:   mbed

main.cpp@18:6986eb7282ee, 2019-06-07 (annotated)

Committer:
Mecaru
Date:
Fri Jun 07 01:12:00 2019 +0000
Revision:
18:6986eb7282ee
Parent:
15:f8c5007343f9 
version 07/06 03:11

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SolalNathan 0:5d6051eeabfe 1 #include "mbed.h"
SolalNathan 2:b2ce001ff8f5 2 #include <math.h>
SolalNathan 2:b2ce001ff8f5 3
SolalNathan 2:b2ce001ff8f5 4 // Définition des ports séries
Mecaru 13:bed77b03701d 5 //Serial pc(USBTX, USBRX, 115200);
Mecaru 13:bed77b03701d 6 Serial pc(PC_10, PC_11, 115200);
SolalNathan 2:b2ce001ff8f5 7 Serial lidar(PC_6, PC_7, 115200);
SolalNathan 2:b2ce001ff8f5 8
SolalNathan 2:b2ce001ff8f5 9 // Définition des variables globales
Mecaru 12:594a1b936f4b 10 float tableau_distance0[360] = {};
Mecaru 12:594a1b936f4b 11 float tableau_distance1[360] = {};
Mecaru 12:594a1b936f4b 12 uint8_t tableau_en_cours = 0; //tableau en cours de remplissage
Mecaru 12:594a1b936f4b 13 uint8_t flag_fin_tour_lidar=0;
SolalNathan 2:b2ce001ff8f5 14 int compteur_tours_lidar = 0;
Mecaru 6:83dafe088914 15 int affiche_lidar = 0;
Mecaru 11:e227edfced99 16 bool run = false;
Mecaru 18:6986eb7282ee 17 Timer T;
Mecaru 18:6986eb7282ee 18 bool first_update = false;
Mecaru 18:6986eb7282ee 19
SolalNathan 2:b2ce001ff8f5 20
SolalNathan 2:b2ce001ff8f5 21 // Défintion des pwm
SolalNathan 2:b2ce001ff8f5 22 PwmOut pwm_lidar(PB_15); // pwm du Lidar
SolalNathan 2:b2ce001ff8f5 23 PwmOut pwm_moteur(PE_6); // pwm de la propulsion
SolalNathan 2:b2ce001ff8f5 24 PwmOut pwm_direction(PE_5); // pwm de la direction
SolalNathan 2:b2ce001ff8f5 25
SolalNathan 2:b2ce001ff8f5 26 void interrupt_lidar_rx(void);
SolalNathan 0:5d6051eeabfe 27
Mecaru 18:6986eb7282ee 28 void interrupt_bt_rx(void);
Mecaru 18:6986eb7282ee 29
Mecaru 4:60e7e1c1d1d8 30
SolalNathan 2:b2ce001ff8f5 31 float distance(float x_1, float x_2, float y_1, float y_2)
SolalNathan 2:b2ce001ff8f5 32 {
SolalNathan 2:b2ce001ff8f5 33 // Fonction qui renvoie la distance entre deux points (norme 2)
Mecaru 12:594a1b936f4b 34 float norm2;
SolalNathan 2:b2ce001ff8f5 35 norm2 = sqrt((x_1 - x_2)*(x_1 - x_2) + (y_1 - y_2)*(y_1 - y_2));
SolalNathan 2:b2ce001ff8f5 36 return norm2;
SolalNathan 2:b2ce001ff8f5 37 }
Mecaru 12:594a1b936f4b 38
Mecaru 12:594a1b936f4b 39 void update_direction(float* list_lidar_var, float* vecteur)
SolalNathan 2:b2ce001ff8f5 40 {
Mecaru 18:6986eb7282ee 41 float t = 0;
Mecaru 18:6986eb7282ee 42 //pc.printf("Update commence\n\r");
Mecaru 18:6986eb7282ee 43 if (first_update==true) {
Mecaru 18:6986eb7282ee 44 //T.start();
Mecaru 18:6986eb7282ee 45 first_update=false;
Mecaru 18:6986eb7282ee 46 } else {
Mecaru 18:6986eb7282ee 47 t = T.read();
Mecaru 18:6986eb7282ee 48 //pc.printf("%f\n\r",t);
Mecaru 18:6986eb7282ee 49 if(t>1) {
Mecaru 18:6986eb7282ee 50 pc.printf("Premier update depuis %f secondes\n\r",t);
Mecaru 18:6986eb7282ee 51 }
Mecaru 18:6986eb7282ee 52 //T.reset();
Mecaru 18:6986eb7282ee 53 }
SolalNathan 2:b2ce001ff8f5 54 // Fonction de mise à jour de la direction
SolalNathan 2:b2ce001ff8f5 55 float direction[2];
Mecaru 12:594a1b936f4b 56 int i;
Mecaru 12:594a1b936f4b 57 float list_lidar[360];
Mecaru 12:594a1b936f4b 58 uint8_t liste_fictifs[360];
Mecaru 12:594a1b936f4b 59 for(i=0; i<360; i++) list_lidar[i]=list_lidar_var[i];
Mecaru 12:594a1b936f4b 60
Mecaru 13:bed77b03701d 61 //pour les essais
Mecaru 13:bed77b03701d 62 //for(i=0; i<360; i++)
Mecaru 13:bed77b03701d 63 // list_lidar[i]=00;
Mecaru 13:bed77b03701d 64
Mecaru 13:bed77b03701d 65 //list_lidar[0]=100;
Mecaru 13:bed77b03701d 66 //list_lidar[90]=20.0;
Mecaru 13:bed77b03701d 67 //list_lidar[270]=100.0;
Mecaru 13:bed77b03701d 68 //list_lidar[45]=20.0;
Mecaru 13:bed77b03701d 69 //list_lidar[315]=100;
Mecaru 13:bed77b03701d 70 ///////////////////
Mecaru 13:bed77b03701d 71
Mecaru 12:594a1b936f4b 72
Mecaru 12:594a1b936f4b 73 direction[0] = 1;
Mecaru 12:594a1b936f4b 74 direction[1] = 0;
SolalNathan 2:b2ce001ff8f5 75 float avg_x, avg_y, sum_inv_dist;
Mecaru 9:a15fc52284ff 76 //list_lidar[180] = 50; // [mm], point fictif qui pousse la voiture
Mecaru 10:c8d93dc5993c 77 //Définition des points fictifs poussant la voiture
Mecaru 12:594a1b936f4b 78
Mecaru 12:594a1b936f4b 79 for (i=0; i<360; i++) {
Mecaru 9:a15fc52284ff 80 liste_fictifs[i] = 0;
Mecaru 12:594a1b936f4b 81 }
Mecaru 18:6986eb7282ee 82 for (i=90; i<=270; i++) {
Mecaru 18:6986eb7282ee 83 //for (int i=0; i<180; i++){ //test
Mecaru 18:6986eb7282ee 84 liste_fictifs[i] = 1;
Mecaru 18:6986eb7282ee 85 }
Mecaru 15:f8c5007343f9 86 //liste_fictifs[180] = 1;
Mecaru 11:e227edfced99 87
SolalNathan 2:b2ce001ff8f5 88 avg_x = 0;
SolalNathan 2:b2ce001ff8f5 89 avg_y = 0;
Mecaru 12:594a1b936f4b 90
SolalNathan 2:b2ce001ff8f5 91 // Calcul de la direction à prende en fonction des charges fictives
Mecaru 12:594a1b936f4b 92 for (i=0; i<360; i++) {
SolalNathan 2:b2ce001ff8f5 93 int theta;
SolalNathan 2:b2ce001ff8f5 94 float r, x, y;
SolalNathan 2:b2ce001ff8f5 95 theta = i;
Mecaru 12:594a1b936f4b 96 if (liste_fictifs[theta] == 1) {
Mecaru 15:f8c5007343f9 97 r = 500;
Mecaru 12:594a1b936f4b 98 } else {
Mecaru 10:c8d93dc5993c 99 //r = 0; //test
Mecaru 12:594a1b936f4b 100 if(theta != 0) r = list_lidar[360-theta];
Mecaru 12:594a1b936f4b 101 else r = list_lidar[0];
Mecaru 12:594a1b936f4b 102
Mecaru 18:6986eb7282ee 103 }
Mecaru 12:594a1b936f4b 104
Mecaru 12:594a1b936f4b 105 if (r != 0) {
Mecaru 12:594a1b936f4b 106
Mecaru 12:594a1b936f4b 107 //x = 0;
Mecaru 12:594a1b936f4b 108 //y = 0;
Mecaru 12:594a1b936f4b 109 x = r*cosf((float)theta*3.14/180);
Mecaru 12:594a1b936f4b 110 y = r*sinf((float)theta*3.14/180);
Mecaru 12:594a1b936f4b 111 //sum_inv_dist += 1/pow(r, 2);
Mecaru 12:594a1b936f4b 112 //avg_x -= x/pow(r,2);
Mecaru 12:594a1b936f4b 113 //avg_y -= y/pow(r,2);
Mecaru 15:f8c5007343f9 114 float puissance = 0.5*cosf(2*theta*3.14/180) + 1.5;
Mecaru 12:594a1b936f4b 115 avg_x = avg_x - x/pow(r,puissance);
Mecaru 12:594a1b936f4b 116 avg_y = avg_y - y/pow(r,puissance);
Mecaru 12:594a1b936f4b 117
Mecaru 12:594a1b936f4b 118 //pc.printf("Angle:%i r:%4.2f x:%4.2f y:%4.2f %4.2f %4.2f\n\r", theta, r, x,y, avg_x,avg_y);
SolalNathan 2:b2ce001ff8f5 119 }
Mecaru 12:594a1b936f4b 120 }
Mecaru 12:594a1b936f4b 121
Mecaru 8:2ce9493549e8 122 //avg_x /= sum_inv_dist;
Mecaru 8:2ce9493549e8 123 //avg_y /= sum_inv_dist;
SolalNathan 2:b2ce001ff8f5 124 direction[0] = avg_x;
SolalNathan 2:b2ce001ff8f5 125 direction[1] = avg_y;
Mecaru 18:6986eb7282ee 126 //pc.printf("Update termine\n\r");
SolalNathan 2:b2ce001ff8f5 127 // mise à jour de la direction
SolalNathan 2:b2ce001ff8f5 128 for(i=0; i<2; i++)
SolalNathan 2:b2ce001ff8f5 129 vecteur[i] = direction[i];
Mecaru 11:e227edfced99 130
SolalNathan 2:b2ce001ff8f5 131 }
Mecaru 12:594a1b936f4b 132
SolalNathan 2:b2ce001ff8f5 133 float angle_servo(float *direction)
SolalNathan 2:b2ce001ff8f5 134 {
SolalNathan 2:b2ce001ff8f5 135 // Calcul basé sur la régression expérimental pour obetenir l'angle
SolalNathan 2:b2ce001ff8f5 136 // le pwm à donner au moteur en fonction de l'angle voulue
Mecaru 12:594a1b936f4b 137
SolalNathan 2:b2ce001ff8f5 138 float angle;
SolalNathan 2:b2ce001ff8f5 139 double pwm;
SolalNathan 2:b2ce001ff8f5 140 float x, y;
SolalNathan 2:b2ce001ff8f5 141 x = direction[0];
SolalNathan 2:b2ce001ff8f5 142 y = direction[1];
Mecaru 15:f8c5007343f9 143 //x = 1;
Mecaru 15:f8c5007343f9 144 //y = 1;
Mecaru 15:f8c5007343f9 145 angle = atan2(y,x);
Mecaru 15:f8c5007343f9 146 angle = angle*180/3.14;
Mecaru 18:6986eb7282ee 147 //pc.printf("Angle : %f\n\r",angle);
Mecaru 15:f8c5007343f9 148 //pwm = 14.662756 * angle + 1453.08; // à refaire
Mecaru 15:f8c5007343f9 149 pwm = -13.30 * angle + 1376.75;
Mecaru 12:594a1b936f4b 150
Mecaru 6:83dafe088914 151 //if (pwm < 1115) printf("trop petit\n\r");
Mecaru 6:83dafe088914 152 //if (pwm > 1625) printf("trop grand\n\r");
Mecaru 9:a15fc52284ff 153 //if (angle > 5*3.14/180){
Mecaru 9:a15fc52284ff 154 // pwm = 1745;
Mecaru 9:a15fc52284ff 155 //}
Mecaru 9:a15fc52284ff 156 //else{
Mecaru 9:a15fc52284ff 157 // if (angle < -5*3.14/180){
Mecaru 9:a15fc52284ff 158 // pwm = 1080;
Mecaru 9:a15fc52284ff 159 // }
Mecaru 9:a15fc52284ff 160 // else{
Mecaru 9:a15fc52284ff 161 // pwm = 1453;
Mecaru 9:a15fc52284ff 162 // }
Mecaru 9:a15fc52284ff 163 //}
Mecaru 12:594a1b936f4b 164
SolalNathan 2:b2ce001ff8f5 165 return pwm;
SolalNathan 2:b2ce001ff8f5 166 }
SolalNathan 0:5d6051eeabfe 167
Mecaru 12:594a1b936f4b 168 void afficher_lidar(float *tableau_distances_var)
Mecaru 4:60e7e1c1d1d8 169 {
Mecaru 4:60e7e1c1d1d8 170 //Affiche les données du lidar dans la liaison série
Mecaru 4:60e7e1c1d1d8 171 int angle;
Mecaru 12:594a1b936f4b 172 float tableau_distances[360];
Mecaru 12:594a1b936f4b 173 for(angle=0; angle<360; angle++) tableau_distances[angle]=tableau_distances_var[angle];
Mecaru 12:594a1b936f4b 174
Mecaru 12:594a1b936f4b 175 for(angle=0; angle<360; angle++) {
Mecaru 7:dc7e66870bd0 176 float distance = tableau_distances[angle];
Mecaru 7:dc7e66870bd0 177 pc.printf("%i,%f\n\r",angle,distance);
Mecaru 12:594a1b936f4b 178 }
Mecaru 4:60e7e1c1d1d8 179 }
Mecaru 4:60e7e1c1d1d8 180
Mecaru 12:594a1b936f4b 181 int main()
Mecaru 12:594a1b936f4b 182 {
Mecaru 12:594a1b936f4b 183
SolalNathan 2:b2ce001ff8f5 184 pc.printf("\r-------------------------\n\r");
Mecaru 12:594a1b936f4b 185
SolalNathan 2:b2ce001ff8f5 186 float dir[2]; // direction
SolalNathan 2:b2ce001ff8f5 187 float pwm_direction_value;
Mecaru 18:6986eb7282ee 188 int pwm_mot_value = 1480;
Mecaru 12:594a1b936f4b 189
Mecaru 12:594a1b936f4b 190
SolalNathan 2:b2ce001ff8f5 191 int i;
Mecaru 12:594a1b936f4b 192
Mecaru 7:dc7e66870bd0 193
Mecaru 7:dc7e66870bd0 194
Mecaru 7:dc7e66870bd0 195
SolalNathan 2:b2ce001ff8f5 196 // pwm du LIDAR
SolalNathan 2:b2ce001ff8f5 197 pwm_lidar.period_us(40);
Mecaru 5:32434b497a9b 198 pwm_lidar.pulsewidth_us(40); // vitesse fixe
Mecaru 12:594a1b936f4b 199
Mecaru 11:e227edfced99 200 //pwm moteur
SolalNathan 0:5d6051eeabfe 201 pwm_moteur.period_ms(20);
Mecaru 18:6986eb7282ee 202 pwm_moteur.pulsewidth_us(pwm_mot_value);
SolalNathan 2:b2ce001ff8f5 203
SolalNathan 2:b2ce001ff8f5 204 // pwm de la direction
SolalNathan 2:b2ce001ff8f5 205 pwm_direction.period_ms(20);
Mecaru 6:83dafe088914 206 pwm_direction.pulsewidth_us(1480); // correspond à un vitesse faible
SolalNathan 2:b2ce001ff8f5 207
SolalNathan 2:b2ce001ff8f5 208 // récupération du premier batch de données (7 bytes) du LIDAR
SolalNathan 2:b2ce001ff8f5 209 lidar.putc(0xA5);
SolalNathan 2:b2ce001ff8f5 210 lidar.putc(0x20);
Mecaru 12:594a1b936f4b 211 for(i=0; i<7; i++)
SolalNathan 2:b2ce001ff8f5 212 lidar.getc();
SolalNathan 2:b2ce001ff8f5 213
SolalNathan 2:b2ce001ff8f5 214 pc.printf("FIN intit \n\r");
SolalNathan 2:b2ce001ff8f5 215
Mecaru 12:594a1b936f4b 216 lidar.attach(&interrupt_lidar_rx, Serial::RxIrq);
Mecaru 18:6986eb7282ee 217 pc.attach(&interrupt_bt_rx, Serial::RxIrq);
Mecaru 12:594a1b936f4b 218
Mecaru 12:594a1b936f4b 219 while (1) {
Mecaru 12:594a1b936f4b 220 //printf("pwm_moteur = %f, pwm_direction = %f", pwm_moteur, pwm_direction);
Mecaru 18:6986eb7282ee 221 //Test
Mecaru 18:6986eb7282ee 222 float t = T.read_us();
Mecaru 18:6986eb7282ee 223 pc.printf("%f\n\r",T.read_us());
Mecaru 18:6986eb7282ee 224 wait(2);
Mecaru 13:bed77b03701d 225 if(0) {
Mecaru 12:594a1b936f4b 226 if(tableau_en_cours == 0)
Mecaru 12:594a1b936f4b 227 afficher_lidar(tableau_distance1);
Mecaru 12:594a1b936f4b 228 else afficher_lidar(tableau_distance0);
Mecaru 12:594a1b936f4b 229
Mecaru 12:594a1b936f4b 230 affiche_lidar = 0;
Mecaru 11:e227edfced99 231 }
Mecaru 12:594a1b936f4b 232
Mecaru 12:594a1b936f4b 233 if(flag_fin_tour_lidar==1) {
Mecaru 12:594a1b936f4b 234 flag_fin_tour_lidar=0;
Mecaru 12:594a1b936f4b 235 if(tableau_en_cours == 0)
Mecaru 12:594a1b936f4b 236 update_direction(tableau_distance1, dir); // mise à jour à la direction
Mecaru 12:594a1b936f4b 237 else update_direction(tableau_distance0, dir); // mise à jour à la direction
Mecaru 18:6986eb7282ee 238 //pc.printf("direction,%f,%f\n\r",dir[0],dir[1]);
Mecaru 12:594a1b936f4b 239 pwm_direction_value = angle_servo(dir); // calcul du pwm
Mecaru 12:594a1b936f4b 240 }
Mecaru 12:594a1b936f4b 241
Mecaru 18:6986eb7282ee 242 if (run==false && pwm_mot_value != 1480) {
Mecaru 18:6986eb7282ee 243 // vitesse nulle
Mecaru 18:6986eb7282ee 244 pwm_mot_value = 1480;
Mecaru 18:6986eb7282ee 245 pwm_moteur.pulsewidth_us(pwm_mot_value);
Mecaru 18:6986eb7282ee 246 pc.printf("pwm_mot = %i\n\r",pwm_mot_value);
Mecaru 18:6986eb7282ee 247
Mecaru 18:6986eb7282ee 248 }
Mecaru 18:6986eb7282ee 249 if (run==true) {
Mecaru 18:6986eb7282ee 250 if(pwm_mot_value != 1440) {
Mecaru 18:6986eb7282ee 251 pwm_mot_value = 1440;
Mecaru 18:6986eb7282ee 252 pwm_moteur.pulsewidth_us(pwm_mot_value);
Mecaru 18:6986eb7282ee 253 pc.printf("pwm_mot = %i\n\r",pwm_mot_value);
Mecaru 18:6986eb7282ee 254 }
Mecaru 18:6986eb7282ee 255
Mecaru 18:6986eb7282ee 256 pwm_direction.pulsewidth_us(pwm_direction_value); // commande du pwm de la direction
Mecaru 12:594a1b936f4b 257 }
Mecaru 18:6986eb7282ee 258 }
Mecaru 18:6986eb7282ee 259 }
Mecaru 12:594a1b936f4b 260
Mecaru 18:6986eb7282ee 261 void interrupt_bt_rx(void)
Mecaru 18:6986eb7282ee 262 {
Mecaru 18:6986eb7282ee 263 char entree = pc.getc();
Mecaru 18:6986eb7282ee 264 pc.printf("%c\n\r",entree);
Mecaru 18:6986eb7282ee 265 if (entree == 'a') {
Mecaru 18:6986eb7282ee 266 run = true;
Mecaru 18:6986eb7282ee 267 pc.printf("c'est parti Bruno !\n\r");
Mecaru 11:e227edfced99 268 }
Mecaru 18:6986eb7282ee 269 if (entree == 'z') {
Mecaru 18:6986eb7282ee 270 run = false;
Mecaru 18:6986eb7282ee 271 pc.printf("Hola, tout doux !\n\r");
Mecaru 18:6986eb7282ee 272 }
Mecaru 18:6986eb7282ee 273
Mecaru 11:e227edfced99 274 }
SolalNathan 2:b2ce001ff8f5 275
SolalNathan 2:b2ce001ff8f5 276 void interrupt_lidar_rx(void)
Mecaru 12:594a1b936f4b 277 {
SolalNathan 2:b2ce001ff8f5 278
Mecaru 5:32434b497a9b 279 int SEUIL = 0; // Seuil de qualité
Mecaru 12:594a1b936f4b 280
SolalNathan 2:b2ce001ff8f5 281 static uint8_t data[5],i=0;
SolalNathan 2:b2ce001ff8f5 282 uint16_t Quality;
SolalNathan 2:b2ce001ff8f5 283 uint16_t Angle;
SolalNathan 2:b2ce001ff8f5 284 uint16_t Distance;
SolalNathan 2:b2ce001ff8f5 285 uint16_t Angle_d;
Mecaru 12:594a1b936f4b 286 static uint16_t Angle_d_old=0;
SolalNathan 2:b2ce001ff8f5 287 uint16_t Distance_d;
Mecaru 6:83dafe088914 288 affiche_lidar ++;
SolalNathan 2:b2ce001ff8f5 289 data[i] = lidar.getc();
SolalNathan 2:b2ce001ff8f5 290 i++;
Mecaru 12:594a1b936f4b 291 if(i==5) {
SolalNathan 2:b2ce001ff8f5 292 i=0;
SolalNathan 2:b2ce001ff8f5 293 Quality = data[0] & 0xFC;
SolalNathan 2:b2ce001ff8f5 294 Quality = Quality >> 2;
Mecaru 12:594a1b936f4b 295
SolalNathan 2:b2ce001ff8f5 296 Angle = data[1] & 0xFE;
SolalNathan 2:b2ce001ff8f5 297 Angle = (Angle>>1) | ((uint16_t)data[2] << 7);
Mecaru 12:594a1b936f4b 298
SolalNathan 2:b2ce001ff8f5 299 Distance = data[3];
SolalNathan 2:b2ce001ff8f5 300 Distance = Distance | ((uint16_t)data[4] << 8);
Mecaru 12:594a1b936f4b 301
SolalNathan 2:b2ce001ff8f5 302 Angle_d = Angle/64; // in degree
SolalNathan 2:b2ce001ff8f5 303 Distance_d = Distance>>2; // in mm
SolalNathan 2:b2ce001ff8f5 304
Mecaru 12:594a1b936f4b 305 // On vérifie que l'on écrit pas en dehors du tableau
Mecaru 8:2ce9493549e8 306 //Angle_d = 360 - Angle_d;
SolalNathan 2:b2ce001ff8f5 307 if(Angle_d>359) Angle_d=359;
Mecaru 12:594a1b936f4b 308
Mecaru 12:594a1b936f4b 309 if(Angle < (Angle_d_old - 180)) {
Mecaru 12:594a1b936f4b 310 tableau_en_cours=1-tableau_en_cours;
Mecaru 12:594a1b936f4b 311 flag_fin_tour_lidar=1;
Mecaru 12:594a1b936f4b 312 }
Mecaru 12:594a1b936f4b 313
SolalNathan 2:b2ce001ff8f5 314 if (Quality < SEUIL) {
SolalNathan 2:b2ce001ff8f5 315 // Fiabilisation des données du LIDAR naïve
Mecaru 12:594a1b936f4b 316 if(tableau_en_cours==0)
Mecaru 12:594a1b936f4b 317 tableau_distance0[Angle_d] = tableau_distance0[Angle_d_old];
Mecaru 12:594a1b936f4b 318 else tableau_distance1[Angle_d] = tableau_distance1[Angle_d_old];
Mecaru 12:594a1b936f4b 319 } else if(tableau_en_cours==0)
Mecaru 12:594a1b936f4b 320 tableau_distance0[Angle_d] = Distance_d;
Mecaru 12:594a1b936f4b 321 else tableau_distance1[Angle_d] = Distance_d;
Mecaru 12:594a1b936f4b 322
Mecaru 12:594a1b936f4b 323 Angle_d_old = Angle;
Mecaru 7:dc7e66870bd0 324
Mecaru 7:dc7e66870bd0 325 //tableau_distance[Angle_d] = Distance_d;
SolalNathan 2:b2ce001ff8f5 326 }
SolalNathan 2:b2ce001ff8f5 327 }