From 98f731d45cb51040bb6ee364920cb0de34939e0a Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 26 Mar 2006 14:16:20 +0000 Subject: Ajout du déplacement avec consigne donnée en position, controlé en vitesse. Ajout des stats sur la vitesse. Ajout d'explications sur le PID. Correction de la formule de tension dans la simulation à cause du mode PWM fast. --- n/asserv/src/asserv/simu.host.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'n/asserv/src/asserv/simu.host.c') diff --git a/n/asserv/src/asserv/simu.host.c b/n/asserv/src/asserv/simu.host.c index e7cc4ee..1035af1 100644 --- a/n/asserv/src/asserv/simu.host.c +++ b/n/asserv/src/asserv/simu.host.c @@ -80,8 +80,8 @@ simu_step (void) /* Convert pwm value into voltage. */ assert (pwm_left >= -PWM_MAX && pwm_left <= PWM_MAX); assert (pwm_right >= -PWM_MAX && pwm_right <= PWM_MAX); - simu_left_model.u = (double) pwm_left / PWM_MAX; - simu_right_model.u = (double) pwm_right / PWM_MAX; + simu_left_model.u = (double) (pwm_left + 1) / (PWM_MAX + 1); + simu_right_model.u = (double) (pwm_right + 1) / (PWM_MAX + 1); /* Make one step. */ old_left_th = simu_left_model.th; old_right_th = simu_right_model.th; -- cgit v1.2.3