2022_gorobo_Ateam / 2022_Ateam_MOTORprogram

足回り用プログラム(修正版)

Dependencies:   SBDBT arrc_mbed BNO055

DUALSHOCKco.cpp

Committer:
kazumayamanaka
Date:
2022-01-28
Revision:
5:e189d55ef292
Parent:
0:a1238c4cd105

File content as of revision 5:e189d55ef292:

#include "DUALSHOCKco.hpp"

void DUALSHOCKco::pass_val(double RSX,double RSY,double R2AN,double L2AN){
    rsx = RSX;
    rsy = RSY;
    r2an = R2AN;
    l2an = L2AN;
}

bool DUALSHOCKco::cal_input(){
    if(r2an == 0&&l2an == 0){
            Xval = (rsx - RS_normal) * 400 / RS_normal;
            Yval = ((RS_MAX - rsy) - RS_normal + 1) * 400 / RS_normal;
            return true;
    }
    else{
        if(r2an != 0){
            Xval = r2an * 400 / RL_MAX;
        }
        else{
            Xval = -l2an * 400 / RL_MAX;
        }
        return false;
    }
}

double DUALSHOCKco::obt_X(){ return Xval; }

double DUALSHOCKco::obt_Y(){ return Yval; }