Edwin Cho / Mbed 2 deprecated FLOW_DERP

DERPS

Dependencies:   BMP280 BNO055_fusion PowerControl mbed

Fork of STRAIGHT_DRIVE_NO_SEP by Antoine Laurens

Diff: LOCOMOTION.cpp

Revision:
28:65daccc10f31
Parent:
27:fb1298d35bd1
Child:
29:e8ef4a2e628d
--- a/LOCOMOTION.cpp	Wed Apr 13 03:14:43 2016 +0000
+++ b/LOCOMOTION.cpp	Wed Apr 13 07:19:18 2016 +0000
@@ -28,6 +28,14 @@
     _m2f=y;
     _m2b=y;
 }
+
+inline float LOCOMOTION::compG(float speed, bool dir, int angle)
+{
+    if(dir)
+        return (cos((double)angle*M_PI/180.0)*GAIN_GRAVITY)*speed+speed;
+    else
+        return -1*(cos((double)angle*M_PI/180.0)*GAIN_GRAVITY)*speed+speed;
+}
  
 inline int LOCOMOTION::wrap(int num)
 {
@@ -245,10 +253,3 @@
     setMotors(0.15) ;
 }
 
-inline float LOCOMOTION::compG(float speed, bool dir, int angle)
-{
-    if(dir)
-        return (cos((double)angle*M_PI/180.0)*GAIN_GRAVITY)*speed+speed;
-    else
-        return -1*(cos((double)angle*M_PI/180.0)*GAIN_GRAVITY)*speed+speed;
-}
\ No newline at end of file