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-rw-r--r--2005/i/robert/src/asserv/asserv.cc22
1 files changed, 11 insertions, 11 deletions
diff --git a/2005/i/robert/src/asserv/asserv.cc b/2005/i/robert/src/asserv/asserv.cc
index fc17d9e..d55a01f 100644
--- a/2005/i/robert/src/asserv/asserv.cc
+++ b/2005/i/robert/src/asserv/asserv.cc
@@ -54,14 +54,14 @@ void Asserv::reset(void)
setAccel(accel_);
setMaxSpeed(maxSpeed_);
setUseTazFSM(useTazFSM_);
- setInvPwm(leftInvPwm_, rightInvPwm_);
- statCounter(pCounter_);
- statPosition(pPosition_);
- statMotor(pMotor_);
- statPwm(pPwm_);
- statTiming(pTiming_);
- statInPort(pStatInPort_);
- statSharp(pStatInPort_);
+ //setInvPwm(leftInvPwm_, rightInvPwm_);
+ //statCounter(pCounter_);
+ //statPosition(pPosition_);
+ //statMotor(pMotor_);
+ //statPwm(pPwm_);
+ //statTiming(pTiming_);
+ //statInPort(pStatInPort_);
+ //statSharp(pStatInPort_);
}
/// Essaie de purger la liste d'émission et indique si elle est vide.
@@ -243,9 +243,9 @@ void Asserv::setYPos(double yPos)
void Asserv::setAngle(double angle)
{
// Conversion mm->pas
- int a = radTo256(angle);
+ int a = radTo256(angle, true);
// Envoie ŕ l'AVR
- proto_.send('p',"bd", 'y', a);
+ proto_.send('p',"bd", 'a', a);
}
void Asserv::setFooting(int16_t footing)
@@ -286,7 +286,7 @@ void Asserv::setKd(double Kd)
void Asserv::setSpeedIntMax(int maxInt)
{
speedIntMax_ = maxInt;
- proto_.send('p', "bW", 'a', maxInt);
+ proto_.send('p', "bW", 'I', maxInt);
}
void Asserv::setAccel(int accel)