From d4c3552bfa3a97ad9c962a71cef6413a94a157f3 Mon Sep 17 00:00:00 2001 From: schodet Date: Fri, 19 May 2006 23:13:02 +0000 Subject: Le centrage marche de la bombe de balle, merci djerem. --- n/asserv/src/asserv/main.c | 2 +- n/asserv/src/asserv/traj.c | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) (limited to 'n/asserv/src') diff --git a/n/asserv/src/asserv/main.c b/n/asserv/src/asserv/main.c index 54b9794..cc6fa2c 100644 --- a/n/asserv/src/asserv/main.c +++ b/n/asserv/src/asserv/main.c @@ -197,7 +197,7 @@ main_loop (void) } if (main_print_pin && !--main_print_pin_cpt) { - proto_send2b ('I', PINA, PINF); + proto_send2b ('I', PINA, PINF & 0xf); main_print_pin_cpt = main_print_pin; } /* Misc. */ diff --git a/n/asserv/src/asserv/traj.c b/n/asserv/src/asserv/traj.c index cfdbbc4..21f60a4 100644 --- a/n/asserv/src/asserv/traj.c +++ b/n/asserv/src/asserv/traj.c @@ -82,14 +82,14 @@ traj_holes (void) else if (in & 1) { /* Left. */ - speed_theta_cons = speed / 2; - speed_alpha_cons = speed / 2; + speed_theta_cons = 0; + speed_alpha_cons = speed; } else if (in & 2) { /* Right. */ - speed_theta_cons = speed / 2; - speed_alpha_cons = -speed / 2; + speed_theta_cons = 0; + speed_alpha_cons = -speed; } else if (in & 8) { -- cgit v1.2.3