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authorschodet2004-06-27 14:36:36 +0000
committerschodet2004-06-27 14:36:36 +0000
commitd4adf20d86ce0e1e887523042d79e22a5930d954 (patch)
tree9c7d7bac833fef3288db5f4ac1cbe8a369147463 /2004/i/nono/src/motor/movement_goto.cc
parentb097c16be082ddd505db55bf9531d98cb2eadc65 (diff)
Add: support du delay compteur.
Add: support du timeout. Add: support du gpo. Mod: méthode d'intégration entière. Add: recalage. Add: round cruise. Add: limitation de la vitesse angulaire. Add: ajustement de l'angle et la position.
Diffstat (limited to '2004/i/nono/src/motor/movement_goto.cc')
-rw-r--r--2004/i/nono/src/motor/movement_goto.cc7
1 files changed, 3 insertions, 4 deletions
diff --git a/2004/i/nono/src/motor/movement_goto.cc b/2004/i/nono/src/motor/movement_goto.cc
index efaf959..40784a7 100644
--- a/2004/i/nono/src/motor/movement_goto.cc
+++ b/2004/i/nono/src/motor/movement_goto.cc
@@ -85,8 +85,7 @@ MovementGoto::control (void)
double dist, dx, dy;
if (!goto_->get (*t_, param_.dist_, param_.eps_, dist, dx, dy))
return false;
-std::cout << "movement goto: consign " << dist << ' ' << dx << ' ' << dy <<
- std::endl;
+//std::cout << "movement goto: consign " << dist << ' ' << dx << ' ' << dy << std::endl;
// Calcule l'erreur.
double el, ea, angle;
t_->computeError (dx, dy, el, ea, angle);
@@ -96,7 +95,7 @@ std::cout << "movement goto: consign " << dist << ' ' << dx << ' ' << dy <<
el = 0.0;
ea = 2.0 - ea;
}
-std::cout << "movement goto: error " << el << ' ' << ea << ' ' << angle << std::endl;
+//std::cout << "movement goto: error " << el << ' ' << ea << ' ' << angle << std::endl;
// Calcule les intégrales saturées.
il_ += el;
if (il_ > param_.is_) il_ = param_.is_;
@@ -109,7 +108,7 @@ std::cout << "movement goto: error " << el << ' ' << ea << ' ' << angle << std::
+ param_.kdl_ * (el - lel_));
double a = param_.kpa_ * (ea + param_.kia_ * ia_
+ param_.kda_ * (ea - lea_));
-std::cout << "movement goto: command " << l << ' ' << a << std::endl;
+//std::cout << "movement goto: command " << l << ' ' << a << std::endl;
m_->speed (l, a, dist, angle);
// Retiens l'erreur pour la dérivée.
lel_ = el;