2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: Swing.h

Revision:
60:4a75f3f3a934
Parent:
57:3fbd487e055e
Child:
61:e018207ae860
diff -r 9d66edf3e734 -r 4a75f3f3a934 Swing.h
--- a/Swing.h	Thu Oct 01 09:52:36 2015 +0000
+++ b/Swing.h	Fri Oct 02 07:24:52 2015 +0000
@@ -29,7 +29,7 @@
 double swingSita=0.0;
 inline void mesureSwing() {
     PulsesSwing       = ( double )SwingSens.getPulses();
-    swingRadVelocity  = (((PulsesSwing - PrefPulsesSwing) / 3450) * 2 * PI) / RATE;
+    swingRadVelocity  = ((((PulsesSwing - PrefPulsesSwing) / 4.0) / pprS) * 2 * PI) / RATE;
     PrefPulsesSwing   = PulsesSwing;
 }