robot.c

Basic PID to drive two motors.

/*
 * robot.c
 *
 *  Created on: 24 f関r. 2009
 *      Author: Crest
 */

#include "Robot.h"

void initialiser_robot(robot* r){
	r->ma_couleur = VERT;
	r->position.y = MONDE_LARGEUR - 250;
	r->position.x = 200;
	r->nombre_palets = 0;
	r->nombre_poutres = 0;
	r->trajet_index=1;
	r->trajet[0].x = r->position.x;
	r->trajet[0].y = r->position.y;
	r->consigne_d = r->consigne_g = 0;
	r->orientation=0;
	r->pid_robot.errDiff = 0;
	r->pid_robot.kDA = 20;
	r->pid_robot.kDT = 20;
	r->pid_robot.kIA = 1;
	r->pid_robot.kIT = 60;
	r->pid_robot.kPA = 50;
	r->pid_robot.kPT = 50;
	r->pid_robot.pid = 0;
	r->pid_robot.pid_derniere_erreur = 0;
	r->pid_robot.pid_somme_erreurs = 0;
	r->pid_robot.erreur_distance = 0;
	r->pid_robot.erreur_orientation = 0;
	r->cible = r->position;

}