NagaokaRoboticsClub_mbedTeam / omni_wheel

omniwheel lib

Dependents:   NHK2017_octopus NHK2017_octopus2 NHK2017_octopus2_drive 2018NHK_gakugaku_robo ... more

Diff: omni_wheel.cpp

Revision:
4:6005d2ab5d52
Parent:
3:86fee122b81d
--- a/omni_wheel.cpp	Mon Nov 06 01:43:39 2017 +0900
+++ b/omni_wheel.cpp	Mon Nov 06 14:18:41 2017 +0900
@@ -42,11 +42,11 @@
     }
     if (shiftMax + rotateMax > 1.0) {
         for (int i = 0; i < wheelNumber; i++) {
-            Wheel[i].setOutput((shiftOut[i] + rotateOut[i]) / fabs(shiftMax + rotateMax));
+            wheel[i].setOutput((shiftOut[i] + rotateOut[i]) / fabs(shiftMax + rotateMax));
         }
     } else if(shiftMin + rotateMin < -1.0) {
         for (int i = 0; i < wheelNumber; i++) {
-            Wheel[i].setOutput((shiftOut[i] + rotateOut[i]) / fabs(shiftMin + rotateMin));
+            wheel[i].setOutput((shiftOut[i] + rotateOut[i]) / fabs(shiftMin + rotateMin));
         }
     } else {
         for(int i = 0; i < wheelNumber; i++) {