From c07c17d40038524ec0c0256bb5da36526585206a Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 17 Sep 2007 14:01:19 +0200 Subject: Added longer trajectory. --- digital/asserv/models/encoders.m | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) (limited to 'digital') 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; -- cgit v1.2.3