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-rw-r--r--2004/i/nono/src/motor/movement_rotation.cc2
1 files changed, 1 insertions, 1 deletions
diff --git a/2004/i/nono/src/motor/movement_rotation.cc b/2004/i/nono/src/motor/movement_rotation.cc
index ee49f3e..a2223ad 100644
--- a/2004/i/nono/src/motor/movement_rotation.cc
+++ b/2004/i/nono/src/motor/movement_rotation.cc
@@ -76,7 +76,7 @@ std::cout << "movement rotation error " << ea << std::endl;
// Commande les moteurs.
double a = param_.kpa_ * (ea + param_.kia_ * ia_
+ param_.kda_ * (ea - lea_));
- m_->speed (a, -a);
+ m_->rotate (-a, ea);
// Retiens l'erreur pour la dérivée.
lea_ = ea;
return true;