Diff: odom.cpp

Revision:

9:1b54bac6d9a7

Parent:

8:f23601373e8b

--- a/odom.cpp	Wed Oct 02 22:25:12 2019 +0000
+++ b/odom.cpp	Thu Oct 03 23:28:56 2019 +0000
@@ -21,7 +21,7 @@
 
 void it_odom()
 {
-    //rs_UTILS_pc.printf("debut it odom\r\n");
+    //rs_LOG_pc.printf("debut it odom\r\n");
     if(t_utils_timerSinceStart.read_ms() != i_ODOM_time_ms)
     {
         i_ODOM_last_time_ms = i_ODOM_time_ms;
@@ -38,16 +38,16 @@
     i_time_ms = i_ODOM_time_ms;
 
     d_ODOM_speed_mps = d_CHASSIS_dist_one_step_odom/((i_time_ms - i_last_time_ms)/1000.0) ;
-    //rs_UTILS_pc.printf("vitesse : %f mps; i_time_ms: %d; i_last_time_ms: %d \r\n",d_ODOM_speed_mps,i_time_ms, i_last_time_ms);
+    //rs_LOG_pc.printf("vitesse : %f mps; i_time_ms: %d; i_last_time_ms: %d \r\n",d_ODOM_speed_mps,i_time_ms, i_last_time_ms);
     
     now = t_utils_timerSinceStart.read_ms();
     d_distance_since_it_m = d_ODOM_speed_mps * ((now - i_time_ms)/1000.0);
 
-    //rs_UTILS_pc.printf("d_distance_since_it_m = %f =  %f * ((%ld - %ld)/1000)\r\n",d_distance_since_it_m,d_ODOM_speed_mps,now,i_last_time_ms);
+    //rs_LOG_pc.printf("d_distance_since_it_m = %f =  %f * ((%ld - %ld)/1000)\r\n",d_distance_since_it_m,d_ODOM_speed_mps,now,i_last_time_ms);
 
     // distance par rapport au debut a l'instant T
     d_ODOM_computed_pos_m = d_ODOM_distFromGlobalStart_m + d_distance_since_it_m;
     
     
-    //rs_UTILS_pc.printf("computed dist since start: %f  since it: %f\r\n",d_ODOM_computed_pos_m,d_distance_since_it_m);
+    //rs_LOG_pc.printf("computed dist since start: %f  since it: %f\r\n",d_ODOM_computed_pos_m,d_distance_since_it_m);
 }
\ No newline at end of file