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

Revision:
43:c659cd5baa14
Parent:
42:00a2261fbd56
Child:
44:3466b8e98fd9
--- a/bot/bot.cpp	Sat Oct 21 17:19:11 2017 +0900
+++ b/bot/bot.cpp	Sun Oct 22 11:24:12 2017 +0900
@@ -95,7 +95,7 @@
         led[1] = !led[1];
         quadOmni.moveCircular(
                 pad.getNorm(0),
-                pad.getRadian(0) - axis.getCurrentDegree() / 10.0 * (M_PI / 180.0) + M_PI,
+                pad.getRadian(0) + axis.getCurrentDegree() / 10.0 * (M_PI / 180.0) + M_PI,
                 0.0,
                 0.0,
                 -moment