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Diffstat (limited to 'n/asserv/src/asserv/simu.host.c')
-rw-r--r--n/asserv/src/asserv/simu.host.c8
1 files changed, 4 insertions, 4 deletions
diff --git a/n/asserv/src/asserv/simu.host.c b/n/asserv/src/asserv/simu.host.c
index bb204c1..adf5b34 100644
--- a/n/asserv/src/asserv/simu.host.c
+++ b/n/asserv/src/asserv/simu.host.c
@@ -218,11 +218,11 @@ simu_step (void)
motor_model_step (&simu_left_model);
motor_model_step (&simu_right_model);
/* Modify counters. */
- counter_left_diff = (simu_left_model.th - old_left_th) / M_2_PI * 500 *
- simu_left_model.i_G;
+ counter_left_diff = (simu_left_model.th - old_left_th) / (2*M_PI)
+ * 500 * simu_left_model.i_G;
counter_left += counter_left_diff;
- counter_right_diff = (simu_right_model.th - old_right_th) / M_2_PI * 500 *
- simu_right_model.i_G;
+ counter_right_diff = (simu_right_model.th - old_right_th) / (2*M_PI)
+ * 500 * simu_right_model.i_G;
counter_right += counter_right_diff;
/* Update position */
simu_pos_update ((simu_left_model.th - old_left_th)