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Dependencies: mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C
Diff: main.cpp
- Revision:
- 19:0840e182f96d
- Parent:
- 18:61d3a2b78aee
- Child:
- 20:79f96d223e5d
diff -r 61d3a2b78aee -r 0840e182f96d main.cpp
--- a/main.cpp Thu Mar 19 06:30:59 2020 +0000
+++ b/main.cpp Thu Mar 19 07:04:51 2020 +0000
@@ -401,12 +401,22 @@
Y=Rest(Y,100);
R=Rest(R,100);
+
+
+
/* オムニ計算結果をtmpに */
int tmp[4]= {0};
+
+ /* 一度データをtmpに保存 */
+ for(int i=0;i<4;i++)
+ tmp[i]=MovMotor[i];
+
+ /* オムニ計算 */
omuni.XmarkOmni_Move(X,Y,R);
-
+
/* 計算結果を加算する */
- for(int i=0; i<4; i++) MovMotor[i]+=tmp[i];
+ for(int i=0; i<4; i++)
+ MovMotor[i]+=tmp[i];
}