Diff: OmniMove.cpp

Revision:

5:333ed75dd3f1

Parent:

4:4d94b6148a0a

Child:

6:fac3dcaebe83

--- a/OmniMove.cpp	Fri Mar 26 01:55:13 2021 +0000
+++ b/OmniMove.cpp	Sat Mar 27 11:14:59 2021 +0000
@@ -2,7 +2,7 @@
 #include "math.h"
 #include "OmniMove.h"
 
-void OmniMove::setup(int nWheel,float fstWheelAng){
+void OmniMove::setup(int nWheel,double fstWheelAng){
     this->nWheel = limit(3,8,nWheel);
     
     for(i = 0;i < nWheel; i++){
@@ -11,7 +11,7 @@
     }
 }
 
-void OmniMove::input_polar(float r,float theta,float Vroll,float roll_ratio){
+void OmniMove::input_polar(double r,double theta,double Vroll,double roll_ratio){
     r = limit(0,1,r);
     Vroll = limit(-1,1,Vroll);
     roll_ratio = limit(0,1,roll_ratio);
@@ -20,7 +20,7 @@
     Vroll = Vroll * roll_ratio;
 }
 
-void OmniMove::input_polar(float r,float theta,float Vroll,float roll_ratio,float MachineAng){
+void OmniMove::input_polar(double r,double theta,double Vroll,double roll_ratio,double MachineAng){
     r = limit(0,1,r);
     Vroll = limit(-1,1,Vroll);
     roll_ratio = limit(0,1,roll_ratio);
@@ -29,7 +29,7 @@
     Vroll = Vroll * roll_ratio;
 }
 
-void OmniMove::input_cartesian(float x,float y,float Vroll,float roll_ratio){
+void OmniMove::input_cartesian(double x,double y,double Vroll,double roll_ratio){
     x = limit(-1,1,x);
     y = limit(-1,1,y);
     Vroll = limit(-1,1,Vroll);
@@ -41,7 +41,7 @@
     Vroll = Vroll * roll_ratio;
 }
 
-void OmniMove::input_cartesian(float x,float y,float Vroll,float roll_ratio,float MachineAng){
+void OmniMove::input_cartesian(double x,double y,double Vroll,double roll_ratio,double MachineAng){
     x = limit(-1,1,x);
     y = limit(-1,1,y);
     Vroll = limit(-1,1,Vroll);
@@ -53,7 +53,7 @@
     Vroll = Vroll * roll_ratio;
 }
 
-float OmniMove::output_(int n){
+double OmniMove::output_(int n){
     if( nWheel < 8 ){
         return Vx*Vx_wheel[n] + Vy*Vy_wheel[n] + Vroll;
     }else{
@@ -61,13 +61,13 @@
     }
 }
 
-void OmniMove::output(float *V){
+void OmniMove::output(double *V){
     for(i = 0;i < nWheel;i++){
         V[i] = Vx*Vx_wheel[i] + Vy*Vy_wheel[i] + Vroll;
     }
 }
 
-float OmniMove::limit(float min,float max,float _value){
+double OmniMove::limit(double min,double max,double _value){
     if(_value > max){
         return max;
     }else if(_value < min){
@@ -77,10 +77,10 @@
     }
 }
 
-float OmniMove::conv_deg(float _rad){
+double OmniMove::conv_deg(double _rad){
     return _rad * 180 / 3.14159265;
 }
 
-float OmniMove::conv_rad(float _deg){
+double OmniMove::conv_rad(double _deg){
     return 3.14159265 * _deg / 180;
 }