From d3726bf21e29a70b4141a5802cb9a50b7880f364 Mon Sep 17 00:00:00 2001 From: haller Date: Wed, 4 May 2005 20:22:33 +0000 Subject: Ajout de la fonction tempo Modification de update --- 2005/i/robert/src/asserv/asserv.cc | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) (limited to '2005/i/robert/src/asserv/asserv.cc') diff --git a/2005/i/robert/src/asserv/asserv.cc b/2005/i/robert/src/asserv/asserv.cc index 662e52f..36b7534 100644 --- a/2005/i/robert/src/asserv/asserv.cc +++ b/2005/i/robert/src/asserv/asserv.cc @@ -323,12 +323,17 @@ double Asserv::getAccel(void) /// Règle les vitesses maximum(lineaire et rotation) void Asserv::setMaxSpeed(int maxSLin, int maxSRot) { - maxSLin_ = maxSLin; - maxSRot_ = maxSRot; + maxSLin_ = (maxSLin > 0 ? maxSLin : maxSLin_); + maxSRot_ = (maxSRot > 0 ? maxSLin : maxSLin_); // Envoie à l'AVR proto_.send('p',"bbb", 'm', maxSLin, maxSRot); } +int Asserv::getMaxLSpeed(void) +{ + return maxSLin_; +} + void Asserv::setUseTazFSM(bool use) { useTazFSM_ = use; @@ -462,6 +467,8 @@ int Asserv::mm2pas(double dist, bool format24eme) int Asserv::radTo256(double angle, bool format24eme) { + if(angle < 0) + angle += 2 * M_PI; if(format24eme) return static_cast((angle / (2 * M_PI)) * 256 * (1 << 24)); else -- cgit v1.2.3