Hlimi Omar / Mbed 2 deprecated biniou

TRR2018 omar

Dependencies:   mbed

Fork of biniou by TRR 2018

Diff: stateMachines.cpp

Revision:
26:3b144f243646
Parent:
25:3d03756a7fa5
Child:
27:f8c3f1524a64
--- a/stateMachines.cpp	Sun Sep 16 17:09:26 2018 +0000
+++ b/stateMachines.cpp	Sun Sep 16 17:11:15 2018 +0000
@@ -474,7 +474,7 @@
             } else if(tachySpeed_cmps > (maxSpeed_cmps + SPEED_DELTA_CMPS))
             {
                 st_tmpThro = BRAKING;
-                brakingDurationNeeded_us = (1000000)* MASSE_BINIOU_KG *((tachySpeed_cmps-maxSpeed_cmps)*(tachySpeed_cmps+maxSpeed_cmps)/100) / (PUISSANCE_FREINAGE_W *2) ;
+                brakingDurationNeeded_us = (10000)* MASSE_BINIOU_KG *((tachySpeed_cmps-maxSpeed_cmps)*(tachySpeed_cmps+maxSpeed_cmps)) / (PUISSANCE_FREINAGE_W *2) ;//vitesse en m/s et temps en us
                 brakingTimer.reset();
                 brakingTimer.start();
             } else