From 43c33540dd681cce203d8e5584272374e28593ce Mon Sep 17 00:00:00 2001 From: haller Date: Tue, 19 Apr 2005 22:21:29 +0000 Subject: Correction de bug Y'a encore du boulot --- 2005/i/robert/src/asserv/asserv.cc | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) (limited to '2005/i/robert/src') 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) -- cgit v1.2.3