春ロボ1班(元F3RC4班+) / PathFollowing-1_11

harurobo_mbed_undercarriage_sub

Diff: PathFollowing.cpp

Revision:
3:5da150ef209c
Parent:
2:32362343f091
Child:
4:69775231687c
--- a/PathFollowing.cpp	Sat Dec 01 05:17:07 2018 +0000
+++ b/PathFollowing.cpp	Tue Dec 04 13:24:20 2018 +0000
@@ -65,11 +65,11 @@
         case 2://減速する運動
             diff_tgt = hypot(now_x - plot_x2, now_y - plot_y2);
 
-            if(diff_tgt > 500) {
-                diff_tgt = 500;
+            if(diff_tgt > 300) {
+                diff_tgt = 300;
             }
 
-            p_param=diff_tgt/500;
+            p_param=(diff_tgt/300);
 
             *ad_x_out = p_param*((VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180));
             *ad_y_out = p_param*((VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180));