Alexandre Pirotte
/
0concours_cachan_programme_ok
ok
Fork of _test_suivi_mur by
Diff: fct.cpp
- Revision:
- 5:3746060957fb
- Parent:
- 4:78a9354fcee8
- Child:
- 7:2f4660e9cf92
- Child:
- 8:24a3fa0f912a
diff -r 78a9354fcee8 -r 3746060957fb fct.cpp --- a/fct.cpp Mon May 29 16:50:40 2017 +0000 +++ b/fct.cpp Mon May 29 16:52:08 2017 +0000 @@ -23,8 +23,13 @@ E2=E1; E1=E0; E0=US2-US1; - cmdD=VMOY+Kp_ecart*(E0+E1)+Kp_dist*(US2-45); - cmdG=VMOY-Kp_ecart*(E0+E1)-Kp_dist*(US2-45); + if((E0+E1)>0) { + cmdD=VMOY; + cmdG=VMOY-Kp_ecart*(E0+E1)-Kp_dist*(US2-45); + } else { + cmdD=VMOY+Kp_ecart*(E0+E1)+Kp_dist*(US2-45); + cmdG=VMOY; + } MD.pulsewidth(vitesse(cmdD)); MG.pulsewidth(vitesse(cmdG));