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-rw-r--r--2004/i/nono/src/motor/motor.cc8
1 files changed, 8 insertions, 0 deletions
diff --git a/2004/i/nono/src/motor/motor.cc b/2004/i/nono/src/motor/motor.cc
index 7bbae46..45c9955 100644
--- a/2004/i/nono/src/motor/motor.cc
+++ b/2004/i/nono/src/motor/motor.cc
@@ -122,6 +122,14 @@ Motor::waitStopped (void)
} while (!stopped ());
}
+/// Paramètre la vitesse linéaire (-1..+1) et angulaire (-1..+1). Limite
+/// la vitesse pour pouvoir freiner au bout de dist (mm).
+void
+Motor::speed (double l, double a, double dist)
+{
+ speed (computeSpeed (dist) * (l - a), computeSpeed (dist) * (l + a));
+}
+
/// Paramètre la vitesse des moteurs (-1..+1).
void
Motor::speed (double l, double r)