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Fonction pour sauvegarder les consignes de la loi de commande

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This commit is contained in:
Samuel 2026-01-31 10:49:04 +01:00
parent 8db2e226b8
commit d6c64fb05d
2 changed files with 13 additions and 2 deletions
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11
Commande_vitesse.c
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@ -3,14 +3,23 @@
#include "Commande_vitesse.h"
float avance_mm_s, orientation_radian_s;
float get_avance_mm_s(){
return avance_mm_s;
}
float get_orientation_radian_s(){
return orientation_radian_s;
}
/// @brief Commande de la vitesse dans le référentiel du robot
/// @param avance_mm_s : Vitesse d'avance
/// @param orientation_radian_s : Rotation en radian/s
void commande_vitesse(float avance_mm_s, float orientation_radian_s){
void commande_vitesse(float _avance_mm_s, float _orientation_radian_s){
float vitesse_roue_gauche, vitesse_roue_droite;
avance_mm_s = _avance_mm_s;
orientation_radian_s = _orientation_radian_s;
vitesse_roue_gauche = avance_mm_s - (orientation_radian_s * DISTANCE_ROUES_CENTRE_MM);
vitesse_roue_droite = avance_mm_s + (orientation_radian_s * DISTANCE_ROUES_CENTRE_MM);

2
Commande_vitesse.h
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@ -1,2 +1,4 @@
void commande_vitesse(float vitesse_avance_mm_s, float orientation_radian_s);
void commande_vitesse_stop(void);
float get_avance_mm_s();
float get_orientation_radian_s();