2022_gorobo_Ateam / 2022_Ateam_MOTORprogram

足回り用プログラム(修正版)

Dependencies:   SBDBT arrc_mbed BNO055

Diff: TARGETco.cpp

Revision:
1:ea880e226e5a
Parent:
0:a1238c4cd105
--- a/TARGETco.cpp	Wed Jan 19 12:43:26 2022 +0000
+++ b/TARGETco.cpp	Thu Jan 20 07:27:53 2022 +0000
@@ -16,7 +16,7 @@
 
 void TARGETco::cal_angular(){
     Xvelocity = Xpower * cos(theta) - Ypower * sin(theta);
-    Yvelocity = Xpower * sin(theta) + Ypower * cos(theta);
+    Yvelocity = -Xpower * sin(theta) - Ypower * cos(theta);
     target[0] = -Xvelocity;
     target[1] = -Yvelocity;
     target[2] = Xvelocity;