NagaokaRoboticsClub_mbedTeam / omni

omni wheel library

Dependents:   quadOmni_yanagi NHK2017_octopus hayatoShooter

オムニ用のライブラリです。

Diff: omni.cpp

Revision:
7:1d0aa4275eb0
Parent:
6:59171f3235b6
Child:
8:ab46e745cfab
--- a/omni.cpp	Wed Jul 05 08:55:53 2017 +0000
+++ b/omni.cpp	Sun Aug 06 00:33:34 2017 +0000
@@ -22,6 +22,10 @@
     return degrees * (M_PI / 180.0);
 }
 
+inline double toDegrees(double radians) {
+    return radianss * (180.0 / M_PI);
+}
+
 Omni::Omni(int wheels, double initDegree) :
     wheels(wheels), initDegree(initDegree)
 {
@@ -38,7 +42,7 @@
 
     double polar[2];
 
-    polar[0] = atan2(parallelVector[1], parallelVector[0]);
+    polar[0] = toDegrees(atan2(parallelVector[1], parallelVector[0]));
     polar[1] = hypot(parallelVector[0], parallelVector[1]);
 
     return computePolar(polar, moment);