Diff: OmniMove.cpp

Revision:

9:91ce72a587ad

Parent:

8:fb082466cfec

--- a/OmniMove.cpp	Fri Apr 23 09:01:44 2021 +0000
+++ b/OmniMove.cpp	Fri Aug 27 06:33:57 2021 +0000
@@ -29,10 +29,10 @@
     x = limit(-1,1,x);
     y = limit(-1,1,y);
     this->Vroll = limit(-1,1,Vroll);
-    r = limit(0,1,hypotf(x,y));
-    theta = conv_deg(atan2(y,x));
-    Vx = r * cos( conv_rad( theta ) ) * ( 1 - fabs(this->Vroll) );
-    Vy = r * sin( conv_rad( theta ) ) * ( 1 - fabs(this->Vroll) );
+    this->r = limit(0,1,hypotf(x,y));
+    this->theta = conv_deg(atan2(y,x));
+    this->Vx = r * cos( conv_rad( this->theta ) ) * ( 1 - fabs(this->Vroll) );
+    this->Vy = r * sin( conv_rad( this->theta ) ) * ( 1 - fabs(this->Vroll) );
 }
 
 void OmniMove::input_cartesian(float x,float y,float Vroll,float MachineAng){
@@ -46,15 +46,15 @@
 }
 
 float OmniMove::output_(int n){
-    if( nWheel < 8 ){
-        return (float)(Vx*Vx_wheel[n] + Vy*Vy_wheel[n] + Vroll);
+    if( this->nWheel < 8 ){
+        return (float)(this->Vx*this->Vx_wheel[n] + this->Vy*this->Vy_wheel[n] + this->Vroll);
     }else{
         return 0;
     }
 }
 
 void OmniMove::output(float *V){
-    for(i = 0;i < nWheel;i++){
+    for(i = 0;i < this->nWheel;i++){
         V[i] = (float)(Vx*Vx_wheel[i] + Vy*Vy_wheel[i] + Vroll);
     }
 }