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

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();
+
+}
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