Revision 17:9ba65b880f06, committed 2020-06-10

Comitter:

leocle

Date:

Wed Jun 10 13:52:55 2020 +0000

Parent:

16:1bbf7e4249d7

Child:

18:68a8f70707e6

Commit message:

tentative de correction de la loi de vitesse 1

Changed in this revision

--- a/main.cpp	Wed Jun 10 12:52:54 2020 +0000
+++ b/main.cpp	Wed Jun 10 13:52:55 2020 +0000
@@ -157,9 +157,9 @@
 
 void asser(float Vx, float Vy, float gammaz)
 {
-    float wa = rapport_vitesse*(Vx + 100 * gammaz);
-    float wb = rapport_vitesse*( -0.5 * Vx - (root3 / 2) * Vy + 100 * gammaz);
-    float wc = rapport_vitesse*( -0.5 * Vx + (root3 / 2) * Vy + 100 * 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);
     /*moteur a */
     SetCRSpeed(adrr_queue, wa);
     wait(0.1)