日記 / Mbed 2 deprecated F3RC_syudou_master_3

主導機　mbed用のプログラムです　改良しました

Dependencies:   mbed

Fork of F3RC_syudou_master by 日記

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API Documentation at this revision

Revision 21:d9f5b74d5034, committed 2017-08-23

Comitter:
yuto17320508
Date:
Wed Aug 23 14:29:18 2017 +0000
Parent:
20:b84beed117ef
Child:
22:e88dd3acec2b
Commit message:
a

Changed in this revision

User.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/User.cpp	Wed Aug 23 13:20:31 2017 +0000
+++ b/User.cpp	Wed Aug 23 14:29:18 2017 +0000
@@ -17,9 +17,10 @@
 //オムニホイール
 
 /*　　　正転の向き
-    　　↙　　　↖
-
-　　　　　  →        */
+　　　　ｌ↙　　　↖ｆ　　　　
+　　　　　　　　　　　　　　
+　　　　　 　→
+　　　　　　ｒ　　　　　　 */
 PwmOut motor_f_1(p21);
 PwmOut motor_f_2(p22);
 PwmOut motor_l_1(p23);
@@ -27,8 +28,8 @@
 PwmOut motor_r_1(p25);
 PwmOut motor_r_2(p26);
 
-double fai=1/3*Pi;//φ
-//個体差
+double fai=60;//φ
+//個体差で出力調整
 double power_f=0.8;
 double power_l=0.8;
 double power_r=0.8;
@@ -207,30 +208,30 @@
         if(LSX>=center && LSX<=255 && LSY>=center && LSY<=255) { //第四象限
             sita = -1.0*(atan2((double)LSY-center,(double)LSX-center))*180/Pi;
             sita_2=90-sita;
-            M1=sin((sita_2-fai+0)*Pi/180)*power_f;
-            M2=sin((sita_2-fai+240)*Pi/180)*power_l;
-            M3=sin((sita_2-fai+120)*Pi/180)*power_r;
+            M1=sin((sita_2-(fai+0))*Pi/180)*power_f;
+            M2=sin((sita_2-(fai+240))*Pi/180)*power_l;
+            M3=sin((sita_2-(fai+120))*Pi/180)*power_r;
             motor_act();
         } else if(LSX>=0 && LSX<=center && LSY>=center && LSY<=255) { //第三象限
             sita = -1.0*(atan2((double)LSY-center,(double)LSX-center))*180/Pi;
             sita_2=90-sita;
-            M1=sin((sita_2-fai+0)*Pi/180)*power_f;
-            M2=sin((sita_2-fai+240)*Pi/180)*power_l;
-            M3=sin((sita_2-fai+120)*Pi/180)*power_r;
+            M1=sin((sita_2-(fai+0))*Pi/180)*power_f;
+            M2=sin((sita_2-(fai+240))*Pi/180)*power_l;
+            M3=sin((sita_2-(fai+120))*Pi/180)*power_r;
             motor_act();
         } else if(LSX>=0 && LSX<=center && LSY>=0 && LSY<=center) { //第二象限
             sita = -1.0*(atan2((double)LSY-center,(double)LSX-center))*180/Pi;
             sita_2=90-sita;
-            M1=sin((sita_2-fai+0)*Pi/180)*power_f;
-            M2=sin((sita_2-fai+240)*Pi/180)*power_l;
-            M3=sin((sita_2-fai+120)*Pi/180)*power_r;
+            M1=sin((sita_2-(fai+0))*Pi/180)*power_f;
+            M2=sin((sita_2-(fai+240))*Pi/180)*power_l;
+            M3=sin((sita_2-(fai+120))*Pi/180)*power_r;
             motor_act();
         } else if(LSX>=center && LSX<=255 && LSY>=0 && LSY<=center) { //第一象限
             sita = -1.0*(atan2((double)LSY-center,(double)LSX-center))*180/Pi;
             sita_2=90-sita;
-            M1=sin((sita_2-fai+0)*Pi/180)*power_f;
-            M2=sin((sita_2-fai+240)*Pi/180)*power_l;
-            M3=sin((sita_2-fai+120)*Pi/180)*power_r;
+            M1=sin((sita_2-(fai+0))*Pi/180)*power_f;
+            M2=sin((sita_2-(fai+240))*Pi/180)*power_l;
+            M3=sin((sita_2-(fai+120))*Pi/180)*power_r;
             motor_act();
         }
 //真っすぐだけのプログラム(いらない）