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authorNicolas Schodet2007-09-17 14:01:19 +0200
committerNicolas Schodet2007-09-17 14:01:19 +0200
commitc07c17d40038524ec0c0256bb5da36526585206a (patch)
tree8406ba13f97c016c0ee54fc555648bb6bf4b8b27 /digital/asserv
parent0cda1aab9df6e81f0dcd0f127633e89031d27df8 (diff)
Added longer trajectory.
Diffstat (limited to 'digital/asserv')
-rw-r--r--digital/asserv/models/encoders.m17
1 files changed, 11 insertions, 6 deletions
diff --git a/digital/asserv/models/encoders.m b/digital/asserv/models/encoders.m
index 52e3ee30..6a573eae 100644
--- a/digital/asserv/models/encoders.m
+++ b/digital/asserv/models/encoders.m
@@ -256,12 +256,17 @@ end
% Example path.
function path ()
global robot;
- traj_dist (1000, 2000, 1000);
- traj_angle (pi/2, 2000 / robot.radius, 1000 / robot.radius);
- traj_dist (1000, 2000, 1000);
- traj_angle (pi/4, 2000 / robot.radius, 1000 / robot.radius);
- traj_dist (1000, 2000, 1000);
- traj_curve (1000, pi, 2000, 1000);
+ while (robot.t < 120)
+ printf ("time: %f\r", robot.t);
+ traj_dist (1000, 2000, 1000);
+ traj_angle (pi/2, 2000 / robot.radius, 1000 / robot.radius);
+ traj_dist (1000, 2000, 1000);
+ traj_angle (pi/4, 2000 / robot.radius, 1000 / robot.radius);
+ traj_dist (1000 * sqrt (2), 2000, 1000);
+ traj_curve (3000, pi + pi / 4, 2000, 1000);
+ traj_dist (1000, 2000, 1000);
+ end
+ printf ("\n");
end
motor;