Hlimi Omar / Mbed 2 deprecated biniou

TRR2018 omar

Dependencies:   mbed

Fork of biniou by TRR 2018

Diff: stateMachines.cpp

Revision:
37:810cdbcbbf3f
Parent:
36:bccddd02966a
Child:
38:dba82d8b08e2
diff -r bccddd02966a -r 810cdbcbbf3f stateMachines.cpp
--- 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
                         (