Alexandre Pirotte
/
0concours_cachan_programme_ok
ok
Fork of _test_suivi_mur by
Diff: fct.cpp
- Revision:
- 4:78a9354fcee8
- Parent:
- 3:b91371837109
- Child:
- 5:3746060957fb
diff -r b91371837109 -r 78a9354fcee8 fct.cpp --- a/fct.cpp Mon May 29 12:01:43 2017 +0000 +++ b/fct.cpp Mon May 29 16:50:40 2017 +0000 @@ -4,8 +4,8 @@ { sensMG.write(0); sensMD.write(0); - cmdD=30; - cmdG=10; + cmdD=35; + cmdG=15; MD.pulsewidth(vitesse(cmdD)); MG.pulsewidth(vitesse(cmdG)); @@ -23,8 +23,8 @@ E2=E1; E1=E0; E0=US2-US1; - cmdD=VMOY+Kp_ecart*(E0+E1)+Kp_dist*(US2-20); - cmdG=VMOY-Kp_ecart*(E0+E1)-Kp_dist*(US2-20); + cmdD=VMOY+Kp_ecart*(E0+E1)+Kp_dist*(US2-45); + cmdG=VMOY-Kp_ecart*(E0+E1)-Kp_dist*(US2-45); MD.pulsewidth(vitesse(cmdD)); MG.pulsewidth(vitesse(cmdG)); @@ -35,8 +35,8 @@ { sensMG.write(0); sensMD.write(1); - MG.pulsewidth(vitesse(20)); - MD.pulsewidth(vitesse(20)); + MG.pulsewidth(vitesse(30)); + MD.pulsewidth(vitesse(30)); } void init() {