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TRR2018 omar
Fork of biniou by
Diff: stateMachines.cpp
- Revision:
- 37:810cdbcbbf3f
- Parent:
- 36:bccddd02966a
- Child:
- 38:dba82d8b08e2
--- a/stateMachines.cpp Wed Sep 19 07:43:16 2018 +0000 +++ b/stateMachines.cpp Wed Sep 19 11:05:05 2018 +0000 @@ -657,7 +657,9 @@ //application des coefficients - pulseDirection_us_temp = ((positionSurPiste45 - (largeurPiste45/2.0)) * 4) + pulseDirection_us_temp = (((positionSurPiste45 - (largeurPiste45/2.0)) * 1 ) + + ((positionSurPiste90 - (largeurPiste90/2.0)) * 1)) + * (300.0/(tachySpeed_cmps+1.0)) + DIRECTION_PULSE_MIDDLE; /*pulseDirection_us_temp = COEF_RAYON_BR_S_DIST/tachySpeed_cmps * //facteur de vitesse: plus on va vite, moins on corrige (