春ロボ 2班 2017
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asimawari
主にオムニです。
Fork of asimawari by
x.y_theta_dainyuu.h@0:1787ed4e6e61, 2017-10-21 (annotated)
- Committer:
- yuto17320508
- Date:
- Sat Oct 21 07:57:16 2017 +0000
- Revision:
- 0:1787ed4e6e61
a; ;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yuto17320508 | 0:1787ed4e6e61 | 1 | //////////x, y代入して出力/////////////////// |
yuto17320508 | 0:1787ed4e6e61 | 2 | void for_act() |
yuto17320508 | 0:1787ed4e6e61 | 3 | { |
yuto17320508 | 0:1787ed4e6e61 | 4 | sita = -1.0*(atan2((double)x,(double)y))*180/Pi; |
yuto17320508 | 0:1787ed4e6e61 | 5 | sita_2=90-sita; |
yuto17320508 | 0:1787ed4e6e61 | 6 | for (i=0; i<=2; i++) { |
yuto17320508 | 0:1787ed4e6e61 | 7 | M[i]=sin((sita_2-(fai+i*(-120)))*Pi/180); |
yuto17320508 | 0:1787ed4e6e61 | 8 | } |
yuto17320508 | 0:1787ed4e6e61 | 9 | for (i=0; i<=2; i++) { |
yuto17320508 | 0:1787ed4e6e61 | 10 | M[i]=M[i]*power[i]/max();//方向による出力の差を補正 |
yuto17320508 | 0:1787ed4e6e61 | 11 | } |
yuto17320508 | 0:1787ed4e6e61 | 12 | motor_act(); |
yuto17320508 | 0:1787ed4e6e61 | 13 | |
yuto17320508 | 0:1787ed4e6e61 | 14 | } |