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-rw-r--r--2005/i/robert/src/asserv/asserv.cc5
1 files changed, 4 insertions, 1 deletions
diff --git a/2005/i/robert/src/asserv/asserv.cc b/2005/i/robert/src/asserv/asserv.cc
index d55a01f..c90eaa5 100644
--- a/2005/i/robert/src/asserv/asserv.cc
+++ b/2005/i/robert/src/asserv/asserv.cc
@@ -106,6 +106,7 @@ void Asserv::goToPosition(double xPos, double yPos)
proto_.send('g', "dd", x, y);
}
+// XXX Vérifier la conversion ca me parais un peu petit
void Asserv::fuckTheWall(double speed)
{
// Conversion mm/s->Pas/Period
@@ -158,9 +159,11 @@ void Asserv::finishAck(void)
proto_.send('F', "b", 0);
}
+/// XXX Valeurs bizarres
/// Statistiques
void Asserv::statCounter(int period)
{
+
pCounter_ = period;
// Convertion s->Period
int p = s2period(period);
@@ -451,7 +454,7 @@ int Asserv::radTo256(double angle, bool format24eme)
int Asserv::mms2ppp(double vitesse)
{
- return static_cast<int>(vitesse*(sPperiod_/mmPpas_));
+ return static_cast<int>(vitesse * sPperiod_ / mmPpas_);
}
int Asserv::rCycl2Pwm(double rCycl)