Diff: Odometry/Odometry.cpp

Revision:

46:be4eebf40568

Parent:

39:309f38d1e49c

Child:

49:5e2f7323f280

--- a/Odometry/Odometry.cpp	Wed Apr 13 12:47:47 2016 +0000
+++ b/Odometry/Odometry.cpp	Mon Apr 25 12:42:32 2016 +0000
@@ -142,7 +142,10 @@
 
     //logger.printf("IniR:%6d\tDistR:%6d\tIniL:%6d\tDistL:%6d\n\r", pos_initiale_right, distance_ticks_right, pos_initiale_left, distance_ticks_left);
 
-    while((m_pulses_right != distance_ticks_right)&&(m_pulses_left != distance_ticks_left)); //logger.printf("%6d\t%6d\t%6d\t%6d\t%6d\n\r",m_pulses_right - pos_initiale_right, distance_ticks_right, m_pulses_left - pos_initiale_left, distance_ticks_left);
+    while((m_pulses_right != distance_ticks_right)&&(m_pulses_left != distance_ticks_left))
+        logger.printf ("[Thet] %d\t%d\n\r", m_pulses_right - distance_ticks_right, m_pulses_left - distance_ticks_left); 
+    //logger.printf("%6d\t%6d\t%6d\t%6d\t%6d\n\r",m_pulses_right - pos_initiale_right, distance_ticks_right, m_pulses_left - pos_initiale_left, distance_ticks_left);
+    
     wait(0.4);
     setTheta(theta_);
     led = 1;
@@ -190,7 +193,9 @@
     
     roboclaw.SpeedAccelDeccelPositionM1M2(ADR, accel_angle, vitesse_angle, deccel_angle, distance_ticks_right, accel_angle, vitesse_angle, deccel_angle, distance_ticks_left, 1);
     
-    while((m_pulses_right != distance_ticks_right)&&(m_pulses_left != distance_ticks_left)); 
+    while((m_pulses_right != distance_ticks_right)&&(m_pulses_left != distance_ticks_left))
+        logger.printf ("[Dist] %d\t%d\n\r", m_pulses_right - distance_ticks_right, m_pulses_left - distance_ticks_left);
+        
     wait(0.4);
 }