Alexandre Pirotte / Mbed 2 deprecated 0concours_cachan_programme_ok

ok

Dependencies:   mbed

Fork of _test_suivi_mur by christophe vermaelen

Diff: fct.cpp

Revision:
4:78a9354fcee8
Parent:
3:b91371837109
Child:
5:3746060957fb
--- a/fct.cpp	Mon May 29 12:01:43 2017 +0000
+++ b/fct.cpp	Mon May 29 16:50:40 2017 +0000
@@ -4,8 +4,8 @@
 {
     sensMG.write(0);
     sensMD.write(0);
-    cmdD=30;
-    cmdG=10;
+    cmdD=35;
+    cmdG=15;
     MD.pulsewidth(vitesse(cmdD));
     MG.pulsewidth(vitesse(cmdG));
 
@@ -23,8 +23,8 @@
     E2=E1;
     E1=E0;
     E0=US2-US1;
-    cmdD=VMOY+Kp_ecart*(E0+E1)+Kp_dist*(US2-20);
-    cmdG=VMOY-Kp_ecart*(E0+E1)-Kp_dist*(US2-20);
+    cmdD=VMOY+Kp_ecart*(E0+E1)+Kp_dist*(US2-45);
+    cmdG=VMOY-Kp_ecart*(E0+E1)-Kp_dist*(US2-45);
 
     MD.pulsewidth(vitesse(cmdD));
     MG.pulsewidth(vitesse(cmdG));
@@ -35,8 +35,8 @@
 {
     sensMG.write(0);
     sensMD.write(1);
-    MG.pulsewidth(vitesse(20));
-    MD.pulsewidth(vitesse(20));
+    MG.pulsewidth(vitesse(30));
+    MD.pulsewidth(vitesse(30));
 }
 void init()
 {