春ロボ 2班 2017 / Mbed 2 deprecated asimawari

主にオムニです。

Dependencies:   EC mbed HCSR04

Fork of asimawari by yuto kawamura

ACT/x.y_theta_dainyuu.h@3:73625a6c9750, 2017-10-26 (annotated)

Committer:
yuto17320508
Date:
Thu Oct 26 13:10:28 2017 +0000
Revision:
3:73625a6c9750
Parent:
2:0a99389df632 
a

Who changed what in which revision?

UserRevisionLine numberNew 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 }