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-rw-r--r--2005/i/robert/src/motor/motor.cc3
-rw-r--r--2005/i/robert/src/motor/test_motor.cc7
2 files changed, 9 insertions, 1 deletions
diff --git a/2005/i/robert/src/motor/motor.cc b/2005/i/robert/src/motor/motor.cc
index c640085..a9f90bf 100644
--- a/2005/i/robert/src/motor/motor.cc
+++ b/2005/i/robert/src/motor/motor.cc
@@ -38,6 +38,9 @@ Motor::Motor (const Config & config)
posX_ = 65;
posY_ = -225;
posA_ = 0;
+ asserv_.setXPos(posX_);
+ asserv_.setYPos(posY_);
+ asserv_.setAngle(posA_);
}
/// Initialise les moteurs
diff --git a/2005/i/robert/src/motor/test_motor.cc b/2005/i/robert/src/motor/test_motor.cc
index e57ff53..bc44f02 100644
--- a/2005/i/robert/src/motor/test_motor.cc
+++ b/2005/i/robert/src/motor/test_motor.cc
@@ -116,9 +116,14 @@ main (int argc, char **argv)
break;
}
motor.sync();
+ while(!motor.idle())
+ {
+ motor.wait(-1);
+ motor.sync();
+ }
break;
}
-
+
case 'w':
{
int stop, t;