Diff: omni.cpp

Revision:

6:59171f3235b6

Parent:

5:f2fc4a0b6a6f

Child:

7:1d0aa4275eb0

--- a/omni.cpp	Wed Jul 05 08:34:43 2017 +0000
+++ b/omni.cpp	Wed Jul 05 08:55:53 2017 +0000
@@ -55,15 +55,15 @@
     }
 
     double parallel[4] = {0};
-    double parallelMax = 0;
-    double parallelMin = 0;
+    double parallelMax = -1;
+    double parallelMin = 1;
 
     for(int i = 0; i < wheels; i++) {
         parallel[i] = sin(toRadians(parallelVector[0] + initDegree + (360 / wheels) * i)) * parallelVector[1];
     }
-    for(int i = 0; i < wheels - 1; i++) {
-        parallelMax = fmax(parallel[i], parallel[i + 1]);
-        parallelMin = fmin(parallel[i], parallel[i + 1]);
+    for(int i = 0; i < wheels; i++) {
+        parallelMax = fmax(parallel[i], parallelMax);
+        parallelMin = fmin(parallel[i], parallelMin);
     }
     if(parallelMax + moment > 1.0 || parallelMin + moment < -1.0) {
         for(int i = 0; i < wheels; i++) {