Paclay-Saris pod racers / Mbed 2 deprecated Algo_charges_fictives_4

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Dependencies:   mbed

Servo.cpp

Committer:
SolalNathan
Date:
2019-06-07
Revision:
18:daba0b3777c0

File content as of revision 18:daba0b3777c0:

#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;
}