Diff: proto01.cpp

Revision:

6:16a24200ab68

Parent:

5:8dce5092a719

Child:

7:c9707baaf007

--- a/proto01.cpp	Wed Sep 04 10:01:50 2019 +0000
+++ b/proto01.cpp	Mon Sep 23 12:21:36 2019 +0000
@@ -70,25 +70,17 @@
 
 void Proto1::calculate()
 {
-//    if(targetDis <= (accdis+decdis)){
-//        if(nowDis >= (accdis+decdis)){
-//            vector = 0;
-//        }else{
-//            vector = maxspeed - s_vector;
-//        }
-//    }else{
-        if (nowDis < accdis) {
-            counter = sqrt(2.0*accsec/maxspeed*fabs(nowDis));
-            vector = s_vector + (-1 * sin((2.0*PI/accsec)*counter) + (2.0*PI/accsec)*counter) / ((2.0*PI)/(maxspeed-s_vector));
-        } else if (nowDis >= accdis && nowDis < accdis+consdis) {
-            vector = maxspeed;
-        } else if (nowDis > (accdis+consdis)) {
-            counter = sqrt(2.0*decsec/maxspeed*fabs(targetDis-nowDis));
-            vector = (-1 * sin((2.0*PI/decsec)*counter) + (2.0*PI/decsec)*counter) / (2.0*PI/maxspeed);
-        } else {
-            vector = 0;
-        }
-//    }
+    if (nowDis < accdis) {
+        counter = sqrt(2.0*accsec/maxspeed*fabs(nowDis));
+        vector = s_vector + (-1 * sin((2.0*PI/accsec)*counter) + (2.0*PI/accsec)*counter) / ((2.0*PI)/(maxspeed-s_vector));
+    } else if (nowDis >= accdis && nowDis < accdis+consdis) {
+        vector = maxspeed;
+    } else if (nowDis > (accdis+consdis)) {
+        counter = sqrt(2.0*decsec/maxspeed*fabs(targetDis-nowDis));
+        vector = (-1 * sin((2.0*PI/decsec)*counter) + (2.0*PI/decsec)*counter) / (2.0*PI/maxspeed);
+    } else {
+        vector = 0;
+    }
 }
 
 double Proto1::getvalue()