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authorschodet2004-05-09 18:03:51 +0000
committerschodet2004-05-09 18:03:51 +0000
commitfbf9fdbeb40baf2431da481d14edfa1d232dc184 (patch)
treeaf7ac178dfb692faf1f87bf14712df0a862fc4df /2004/i/nono/src/motor/movement_goto.cc
parent1bb779ae372de25e1af78dcad84170d5c31e5d43 (diff)
gpio
hermite limitation de la vitesse angulaire movement queue motor_cmd
Diffstat (limited to '2004/i/nono/src/motor/movement_goto.cc')
-rw-r--r--2004/i/nono/src/motor/movement_goto.cc8
1 files changed, 4 insertions, 4 deletions
diff --git a/2004/i/nono/src/motor/movement_goto.cc b/2004/i/nono/src/motor/movement_goto.cc
index cc720a9..efaf959 100644
--- a/2004/i/nono/src/motor/movement_goto.cc
+++ b/2004/i/nono/src/motor/movement_goto.cc
@@ -88,15 +88,15 @@ MovementGoto::control (void)
std::cout << "movement goto: consign " << dist << ' ' << dx << ' ' << dy <<
std::endl;
// Calcule l'erreur.
- double el, ea;
- t_->computeError (dx, dy, el, ea);
+ double el, ea, angle;
+ t_->computeError (dx, dy, el, ea, angle);
// Pas de marche arrière.
if (el < 0.0)
{
el = 0.0;
ea = 2.0 - ea;
}
-std::cout << "movement goto: error " << el << ' ' << ea << 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_;
@@ -110,7 +110,7 @@ std::cout << "movement goto: error " << el << ' ' << ea << std::endl;
double a = param_.kpa_ * (ea + param_.kia_ * ia_
+ param_.kda_ * (ea - lea_));
std::cout << "movement goto: command " << l << ' ' << a << std::endl;
- m_->speed (l, a, dist);
+ m_->speed (l, a, dist, angle);
// Retiens l'erreur pour la dérivée.
lel_ = el;
lea_ = ea;