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authordufourj2005-05-06 14:37:10 +0000
committerdufourj2005-05-06 14:37:10 +0000
commit1d6fa32f84b92e6dab641beb918cbb809ce1265b (patch)
treeeafc0c6882233d52fe5afd09c015bb5765340c0e /2005/i/robert/src/asserv/asserv.cc
parent03f151f322ddcf22796b810a8a2cb02b55ede491 (diff)
Config rc :
amélioriation des paramêtres asserv (accel/kp) diminution des stats Ai : amélioriation de l'algo de parcour du fond (vitesse/tempo) Asserv : correction des setter invalides (setMaxSpeed/setAccel)
Diffstat (limited to '2005/i/robert/src/asserv/asserv.cc')
-rw-r--r--2005/i/robert/src/asserv/asserv.cc6
1 files changed, 3 insertions, 3 deletions
diff --git a/2005/i/robert/src/asserv/asserv.cc b/2005/i/robert/src/asserv/asserv.cc
index 8b60a27..082f39b 100644
--- a/2005/i/robert/src/asserv/asserv.cc
+++ b/2005/i/robert/src/asserv/asserv.cc
@@ -308,10 +308,10 @@ void Asserv::setDSample (int dSample)
void Asserv::setAccel(int accel)
{
- accel_ = accel_;
+ accel_ = accel;
//log_ ("setAccel") << "avConv" << accel;
// envoie vers l'AVR
- proto_.send('p',"bb", 'a', accel);
+ proto_.send('p',"bb", 'a', accel_);
}
/// Renvoie l'acclration en unit international (mm/s)
@@ -326,7 +326,7 @@ void Asserv::setMaxSpeed(int maxSLin, int maxSRot)
maxSLin_ = (maxSLin > 0 ? maxSLin : maxSLin_);
maxSRot_ = (maxSRot > 0 ? maxSRot : maxSRot_);
// Envoie l'AVR
- proto_.send('p',"bbb", 'm', maxSLin, maxSRot);
+ proto_.send('p',"bbb", 'm', maxSLin_, maxSRot_);
}
int Asserv::getMaxLSpeed(void)