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:
5:f2fc4a0b6a6f
Parent:
0:979565e955a5
Child:
6:59171f3235b6
diff -r 926be1e5e9a1 -r f2fc4a0b6a6f omni.cpp
--- a/omni.cpp	Tue Jul 04 17:59:29 2017 +0900
+++ b/omni.cpp	Wed Jul 05 08:34:43 2017 +0000
@@ -59,7 +59,7 @@
     double parallelMin = 0;
 
     for(int i = 0; i < wheels; i++) {
-        parallel[i] = sin(toRadians(parallelVector[0] + initDegree)) * parallelVector[1];
+        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]);