From 108b8a22ccace7c51aa64b5726bf3d95360d366a Mon Sep 17 00:00:00 2001 From: Forest Date: Tue, 9 May 2017 16:56:07 +0200 Subject: [PATCH] ajustements suivi moteur --- Code/KirbyTrack | Bin 18920 -> 18920 bytes Code/KirbyTrack.c | 38 ++++++++++++++++++++++++-------------- Code/KirbyTrack.o | Bin 11056 -> 11056 bytes 3 files changed, 24 insertions(+), 14 deletions(-) diff --git a/Code/KirbyTrack b/Code/KirbyTrack index 4a8218a85265d4eca30406f6102b013af176b86c..95a0e28ef6296f3ac0130f244a6fd6511204e4db 100755 GIT binary patch delta 855 zcmX|9ZAepL6uxKXS2^9>y_<8|rUf!coKz&_bZZVTh2Sa)>c^78`caUPKN1VHFXj*? z$AuLJL9Gvpw23q`r&wx;qLxuesE~Ct2#s`VtlPO;^y7V==bZPP^Pcy-uYe#Rv|pC7 z$`@w!Iqh8HUD4>9JT+W*ou4}HZwLjY41*W`{^h8eQ=0K+if3ecy>fpi>G6mB1t zF%0jvukuY5Eqqg%hj)$ft|4JDhGEJeO8JN{Ep~I=9Be^UX=WIqFRu&7r9g?*s&(n z1DzPBIt)gvRI%JUiV6BMEsW5(MoQ{kn8ikwE@=nZQe*t3z75!{V&!bq5jo~0PO1vw zJEpKXpu%136r4smr-zrA%jq;((a70us>bw6HKi6t(8*=P18g8%#(SIvKI0e81Oup1 z8(s0|5Oq3EGluV&+>rM4KXrQI34Mc9iygl+gqy>q`YBDcVjRO- zBfd?qgGX4dGtraR>r}84y*eLQ{KXkzsNDEV6g_m?726coN$-BQ#*XUJn=1L0F5``YoAW zie;?HimNi4JTAr~ONvimGRXCc)>-VJxFVb&Jcvt#Bd9d!VIK1dZ=-{-2CE52u-TA9 z&l4d1+W*lIN`f~3MD9=u9K{>vQX2c5c?P`LU-T7{@nP|O$VP`H51wJY#R+3LM|uI3 lRt<1yv^wDjx~zF{#2>JR07|gKRtnR&X3K+lzp*43`xj?EZ2JHJ delta 926 zcmX|9ZAepL6uxI>nz`JjbL!MB6GSnbL=^e8p~DMdWV#3`w0`ubA88~RwXD?QGA@`$ z%9J9gEVW3Pl!|#ZL(R&xun+o?8sRl9wA4*QZ|BbF$9Me6b+f#!n&q=9S#F5s`o$k!4CAm>JBlmmQgqmx9a*gw&MjYsV2V1@x2dr)jvH`& z$D``qrKx`;iFMfAtRrhy&i`i;N<9TX>L^A~f@`=(G?aIrR80Go**lqlik?-f;;mz{ zX{YSK(-@?impyt`)_2x4IrfV+q}#}idC_ZQxo>RQjES?)aK$2;G?~C+iKY^s;D*4w zxOmx(BeycUn<po zJ1N=`l32iWZ6**3l+ rayon*rayon){ //Si la cible est en dehors d'un certain rayon - //Ajout d'un angle moteur pondéré par la distance - angle[0] += coeffx; - angle[1] += coeffy; - //Majoration - minoration des angles moteurs - l0 = limite_moteur(angle[0]); - l1 = limite_moteur(angle[1]); - if (l0 != 0) angle[0] = l0; - if (l1 != 0) angle[1] = l1; - //} + //Ajout d'un angle moteur pondéré par la distance + coeffx = vecX/rayon; + coeffy = vecY/rayon; + angle[0] += coeffx; + angle[1] += coeffy; - printf("Nouveaux angles : %d %d\n",angle[0],angle[1]); + //Majoration - minoration des angles moteurs + l0 = limite_moteur(angle[0]); + l1 = limite_moteur(angle[1]); + if (l0 != 0) angle[0] = l0; + if (l1 != 0) angle[1] = l1; + + printf("Nouveaux angles : %d %d\n",angle[0],angle[1]); +} + +int ajust_pos(int pos, int ref){ + if (pos > ref) return 0; + else return pos; } int limite_moteur(int val_pwm){ diff --git a/Code/KirbyTrack.o b/Code/KirbyTrack.o index 52cf8808b7c9071da330729317d54b54d8863f69..62eb08a5d6db47cf167bc5641fc430ea159bafc7 100644 GIT binary patch delta 1490 zcmZ{kT}V_x6vywmtJ~)1s>C=eMXRgpnpg&wU=d4%`H*3d2oZE&HmH}@7a#h78=)2j z%3%p1h^>f%g59<-UyP*$gD@5&@Fn!2AbY5ND4_y7Gj}cwOZUL}&oaONIWu?e+|3MU zhBFrcdNB!62;mIesyv%WB(5)Rtml85*k#%w{&qSU&`Fk6A513g;Rpz`{7+4TG5E zj8B$RV~Q1LFiwME)Ei~S5~j(M!UAV7i(l#Y2=Y)r*f}e7+s|vnekjBcq5Qk)Lh_i6OLq>mJJPc=Z-NW@bt&?;|)2i_vIGFXx`pJmm0NmYZY`Yt_w z%#*(or%8iYB#nw0-nqr;?XI;$Rdq|xQCW2i!)**s$eB?bYGZs%Rf(t5_iv+3blihZ zVU}phgQjKYhZ^mr?(VrglbvTh=xf<|(SvqiGRpY*fb*nc&)c-luP{w?zqq~>f-*{X z-Q!q@GB_u74xydC9S^68)9nnlOHH6f&O72zDN1`jm!9`h8!=DLfy)0oEi6*cOHvnv z6N+fZ82rMa7#sMbs>Ct}oCc0oIfIy2mt9VjYx4&ki_{9t#-em9R$^oHCpFZ;xUIgv wRpk;-AaWLMqJygGPIXsYI*D1Lmb!;$O6Ul#5nWR6=s^ix#=2cB5L7$-2T1^u?*IS* delta 1508 zcmZ{kPe@cz6vp3~F`cx@ROI>$q|woFG%O{<<`2nYeJ_ zd{DT_q*`c;oSsBcizYA(BOF?}D6$q-RA2?QFznp>?!aYe4&3iO?(aL_z3 z#kF3lMn~xYT|}yMA1jqfjj&!vob`c|Dx2`qBBG+5{LYjpCQ9IO#W3|EV(*|%#B5;? zZQx+8CHG>TAj>MX@~j0+vL}JGEoc^>`Mw)=WjhTz(aIb7c9Gl>eL2oH~SJTW}_3<&1HH|c{l9C>J0jd?Wpk_X(u9d8=GTrr6dAvxm z--j_)KUP_Ta>fo9xY?Pts&rSA@*GlKM-ZqJbWF|kqpMEX=X95RI&=Snh%>#CgN`D} zG?9beRLQpu+Q#Xb_jX?;&*q@dRPtO78bT~2?9)E?N#&l)jpV18WV%ZpUoJ@nkIcG9 zkq!wurSu`Fp1++O&UNLfM035MK1A6$E?+8Fc4ks}UMVd{ik*jx{_pI?DyLmg`dm4` zYp0CX2U)fLL|0gJ{4wYrH&W?eW8UoYY;sL9ZLi@kKr$TSbFvg3;J>Y|24N5C@A18M u$!C&d7ICJXI&_;pJsCQLB-37fGEZjFZY(oh(7)Q9EV_u2M&a}89sUFEiI7SF