NagaokaRoboticsClub_mbedTeam / Mbed OS hayatoShooter

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
diff -r 311aed3cad15 -r 4b629221c215 hayatoBoomerang.cpp
--- 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));
     }
 }