NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2

Octopus!!

Dependencies:   2017NHKpin_config FEP HMC6352 PID QEI R1307 ikarashiMDC omni_wheel

Fork of KANIv3 by NagaokaRoboticsClub_mbedTeam

Diff: bot/bot.cpp

Branch:
fix_omni_lib
Revision:
24:593910fa1397
Parent:
19:34da005ea4ea
Child:
27:47c6eee26e76
--- a/bot/bot.cpp	Sat Sep 30 20:42:14 2017 +0900
+++ b/bot/bot.cpp	Sun Oct 01 15:28:52 2017 +0900
@@ -59,6 +59,8 @@
         quadOmni.moveXY(
             pad.getStick(0),
             -pad.getStick(1),
+            0,
+            0,
             - pad.getStick(2) / 3.0 // PIDC::calculationResult
         );
     } else {
@@ -123,6 +125,8 @@
             quadOmni.moveXY(
                 pad.getStick(0),
                 -pad.getStick(1),
+                0.7,
+                0.7,
                 -PIDC::calculationResult
             );
         }
@@ -133,6 +137,8 @@
             quadOmni.moveXY(
                 -pad.getStick(1),
                 -pad.getStick(0),
+                0.7,
+                0.7,
                 -PIDC::calculationResult
             );
         }