春ロボ 2班 2017
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asimawari
主にオムニです。
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Diff: ACT/x.y_theta_dainyuu.h
- Revision:
- 2:0a99389df632
- Parent:
- 0:1787ed4e6e61
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ACT/x.y_theta_dainyuu.h Wed Oct 25 08:54:30 2017 +0000 @@ -0,0 +1,14 @@ +//////////x, y代入して出力/////////////////// +void for_act() +{ + sita = -1.0*(atan2((double)x,(double)y))*180/Pi; + sita_2=90-sita; + for (i=0; i<=2; i++) { + M[i]=sin((sita_2-(fai+i*(-120)))*Pi/180); + } + for (i=0; i<=2; i++) { + M[i]=M[i]*power[i]/max();//方向による出力の差を補正 + } + motor_act(); + +} \ No newline at end of file