2020_TeamA / Mbed 2 deprecated Yoshida_MiniRobo

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Dependencies:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

Diff: main.cpp

Revision:
4:d89286e18be9
Parent:
3:2226d50a302a
Child:
5:8e257a254c73
--- a/main.cpp	Sat Mar 14 05:13:54 2020 +0000
+++ b/main.cpp	Sat Mar 14 05:33:33 2020 +0000
@@ -148,7 +148,7 @@
       /* 目標角度再設定 */
       if(yawCnt.read_ms()<1000) TarTheta=NowLoc.theta;
       /* r_val補正 */
-      r_val+=TarTheta-NowLoc.theta;
+      r_val+=(TarTheta-NowLoc.theta)*CONST_CORRECTION_YAW;
       
       omuni.XmarkOmni_Move(x_val,y_val,r_val);