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essai x=0 || y = 0

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-05-22 17:29:41 +02:00
parent f2777c5d98
commit 2d0d14ddf0
1 changed files with 2 additions and 0 deletions
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src/commande-new-1d.cpp
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@ -56,10 +56,12 @@ class Run
if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min) if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
{ {
mvt->linear.y = yy * plan_vel; mvt->linear.y = yy * plan_vel;
mvt->linear.x = 0.;
} }
else if (fabs(xx) > x_dev_min) else if (fabs(xx) > x_dev_min)
{ {
mvt->linear.x = xx * plan_vel; mvt->linear.x = xx * plan_vel;
mvt->linear.y = 0.;
} }
assert( !(mvt->linear.x > 0. && mvt->linear.y > 0.) ); assert( !(mvt->linear.x > 0. && mvt->linear.y > 0.) );