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

Committer:
yuto17320508
Date:
2017-10-26
Revision:
3:73625a6c9750
Parent:
2:0a99389df632

File content as of revision 3:73625a6c9750:

//////////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();

}