changes to motor library
Fork of motor by
Diff: motor.cpp
- Branch:
- motorupdate
- Revision:
- 38:4bb39bb1e685
- Parent:
- 36:8b6c896e1ab5
- Child:
- 39:772ff68123cc
--- a/motor.cpp Fri Jan 13 10:11:30 2017 +0000 +++ b/motor.cpp Sat Jan 28 15:50:41 2017 +0000 @@ -167,7 +167,8 @@ //there are two equations for testing purposes if(true){ // calculates the difference in the speed - float deltaW = ((0.1f*tan((theta/0.02222f)* (3.14f / 180.0f)))/0.2f)*speed; + float angle= tan((theta/0.02222f)* (3.14f / 180.0f)); + float deltaW = (0.1f/(2*0.2f*angle))*speed; // if(leftOrRight){ w1= speed+ deltaW * tune; @@ -185,9 +186,9 @@ else{ //calulates the speed in eack wheel //speed of inner wheel - float vin = speed*(2 - 0.1/tan((theta/0.022222)*(3.14f / 180.0f))); + float vin = speed*(1 - 0.1/tan((theta/0.022222)*(3.14f / 180.0f))); //speed of outer wheel. - float vout = speed*(2 + 0.1/tan((theta/0.022222)*(3.14f / 180.0f))); + float vout = speed*(1 + 0.1/tan((theta/0.022222)*(3.14f / 180.0f))); if(leftOrRight){ w1=vout;