Diff: main.cpp

Revision:

7:f5c5cf499311

Parent:

6:65c511f6f1fc

Child:

8:41752698aa35

--- a/main.cpp	Sat May 23 10:30:02 2020 +0000
+++ b/main.cpp	Sat May 23 14:18:53 2020 +0000
@@ -67,7 +67,6 @@
         a1=a0*RC*1.0;           //calcul du coefficient a du filtre
         dt=tt.read_us()/1000000.0;
         tt.reset();
-        //tt.start();
         DOF.readAccel();
         DOF.readGyro();
 #if viti
@@ -93,12 +92,11 @@
         angle_gyroy_f=a1*gyroy+a1*gyroy_pred-b0*angle_gyroy_f_pred;
         //
         angle_final=angle_acce_f+angle_gyroy_f;
-
+ana=0.0;
         //
         //
 
-        ana=0.0;
-        wait(0.0082);
+        wait(0.0083);
     }
 }
 
@@ -113,6 +111,7 @@
     wait(1);
     DOF.calibration();
     wait(1);
+    tt.reset();
     thread.start(calcul);
     
 
@@ -135,9 +134,9 @@
         else motor.speed(0.0);
         //
         motor.speed(s);
-        pc.printf("$%6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f;\r\n",ang,angle_acce_f,angle_gyroy_f,angle_final,gyroy,x,s);
+        pc.printf("$%6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %f;\r\n",ang,angle_acce_f,angle_gyroy_f,angle_final,gyroy,x,s,dt);
         ana=0.0;
-        wait(0.1);
+        wait(0.095);
 
     }
 }