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-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;