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correction : pidvitesse ok

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Maxime
2025-05-26 17:55:48 +02:00
parent 67ad5f1160
commit e05f0aa689
4 changed files with 28 additions and 42 deletions
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2
Core/Src/pidPosition.cpp
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@@ -196,7 +196,7 @@ std::array<double, 2> PidPosition::updateNouvelOrdreVitesse(Point pointActuel, f
sprintf(log, "[SET] VITESSE SORTIE DE PID POS | G: %.3f m/s | D: %.3f m/s\r\n", vitesseGauche, vitesseDroite);
CDC_Transmit_FS((uint8_t*)log, strlen(log));
if (fabs(erreurAvant) < 0.1 && fabs(erreurLat) < 0.1 && fabs(erreurPosition.getTheta()) < 2) {
if (fabs(erreurAvant) < 0.05 && fabs(erreurLat) < 0.05 && fabs(erreurPosition.getTheta()) < 0.5) {
sprintf(log, "[PID] OBJECTIF ATTEINT — Robot à l'arrêt\r\n");
CDC_Transmit_FS((uint8_t*)log, strlen(log));
return {0.0, 0.0};