Revision 18:68a8f70707e6, committed 2020-06-10

Comitter:

leocle

Date:

Wed Jun 10 13:59:03 2020 +0000

Parent:

17:9ba65b880f06

Child:

19:6338e004c566

Commit message:

correction de la loi de vitesse 2

Changed in this revision

--- a/main.cpp	Wed Jun 10 13:52:55 2020 +0000
+++ b/main.cpp	Wed Jun 10 13:59:03 2020 +0000
@@ -157,9 +157,9 @@
 
 void asser(float Vx, float Vy, float gammaz)
 {
-    float wa = rapport_vitesse*(Vy + 100 * gammaz);
-    float wb = rapport_vitesse*( -0.5 * Vy - (root3 / 2) * Vx + 100 * gammaz);
-    float wc = rapport_vitesse*( -0.5 * Vy + (root3 / 2) * Vx + 100 * gammaz);
+    float wa = rapport_vitesse*(Vy + gammaz);
+    float wb = rapport_vitesse*( -0.5 * Vy + (root3 / 2) * Vx + gammaz);
+    float wc = rapport_vitesse*( -0.5 * Vy - (root3 / 2) * Vx + gammaz);
     /*moteur a */
     SetCRSpeed(adrr_queue, wa);
     wait(0.1)