![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
2017ロボコンはやとブーメランプログラム
Dependencies: PID QEI ikarashiMDC recieveController omni
Diff: hayatoBoomerang.cpp
- Revision:
- 18:4b629221c215
- Parent:
- 17:311aed3cad15
- Child:
- 20:d052a0679309
- Child:
- 21:aad4a4adc18c
--- a/hayatoBoomerang.cpp Sun Oct 15 13:42:12 2017 +0900 +++ b/hayatoBoomerang.cpp Thu Nov 02 20:40:13 2017 +0900 @@ -69,11 +69,11 @@ } -void boomerang::move(const uint8_t& x,const uint8_t& y,const uint8_t& moment) +void boomerang::move(const uint8_t& x,const uint8_t& y,const float& moment) { omni->computeXY((y-127)/130.0,(x-127)/130.0,moment); for (size_t i = 0; i < 4; i++) { - omniMotor[i]->setSpeed((omni->getOutput(i)-127)/127.0); + omniMotor[i]->setSpeed(omni->getOutput(i)); } }