Paclay-Saris pod racers / Mbed 2 deprecated Algo_charges_fictives_4

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Dependencies:   mbed

Diff: Servo.cpp

Revision:
18:daba0b3777c0
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.cpp	Fri Jun 07 01:11:01 2019 +0000
@@ -0,0 +1,17 @@
+#include "SaphTeamRacing.h"
+
+float angle_servo(float *direction)
+{
+    // Calcul basé sur la régression expérimental pour obetenir l'angle
+    // le pwm à donner au moteur en fonction de l'angle voulue
+
+    float x, y;
+    double angle, pwm;
+    x = direction[0];
+    y = direction[1];
+    angle = atan2(y, x); // récupration de l'angle en radian
+    angle = angle*180/3.14; // conversion en degrés
+    pwm = -13.30*angle + 1376.75; // Formule issue de la régression linéaire
+
+    return pwm;
+}