YUTO WATANABE / OmniMove

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Diff: OmniMove.cpp

Revision:
7:9b9d488ebcfd
Parent:
6:fac3dcaebe83
Child:
8:fb082466cfec
--- a/OmniMove.cpp	Mon Mar 29 09:13:27 2021 +0000
+++ b/OmniMove.cpp	Mon Apr 12 10:38:12 2021 +0000
@@ -11,46 +11,38 @@
     }
 }
 
-void OmniMove::input_polar(float r,float theta,float Vroll,float roll_ratio){
+void OmniMove::input_polar(float r,float theta,float Vroll){
     r = limit(0,1,r);
     Vroll = limit(-1,1,Vroll);
-    roll_ratio = limit(0,1,roll_ratio);
-    Vx = r * cos( conv_rad( theta ) ) * ( 1 - roll_ratio );
-    Vy = r * sin( conv_rad( theta ) ) * ( 1 - roll_ratio );
-    Vroll = Vroll * roll_ratio;
+    Vx = r * cos( conv_rad( theta ) ) * ( 1 - fabs(Vroll) );
+    Vy = r * sin( conv_rad( theta ) ) * ( 1 - fabs(Vroll) );
 }
 
-void OmniMove::input_polar(float r,float theta,float Vroll,float roll_ratio,float MachineAng){
+void OmniMove::input_polar(float r,float theta,float Vroll,float MachineAng){
     r = limit(0,1,r);
     Vroll = limit(-1,1,Vroll);
-    roll_ratio = limit(0,1,roll_ratio);
-    Vx = r * cos( conv_rad( theta - MachineAng ) ) * ( 1 - roll_ratio );
-    Vy = r * sin( conv_rad( theta - MachineAng ) ) * ( 1 - roll_ratio );
-    Vroll = Vroll * roll_ratio;
+    Vx = r * cos( conv_rad( theta - MachineAng ) ) * ( 1 - fabs(Vroll) );
+    Vy = r * sin( conv_rad( theta - MachineAng ) ) * ( 1 - fabs(Vroll) );
 }
 
-void OmniMove::input_cartesian(float x,float y,float Vroll,float roll_ratio){
+void OmniMove::input_cartesian(float x,float y,float Vroll){
     x = limit(-1,1,x);
     y = limit(-1,1,y);
     Vroll = limit(-1,1,Vroll);
-    roll_ratio = limit(0,1,roll_ratio);
     r = limit(0,1,hypotf(x,y));
     theta = conv_deg(atan2(y,x));
-    Vx = r * cos( conv_rad( theta ) ) * ( 1 - roll_ratio );
-    Vy = r * sin( conv_rad( theta ) ) * ( 1 - roll_ratio );
-    Vroll = Vroll * roll_ratio;
+    Vx = r * cos( conv_rad( theta ) ) * ( 1 - fabs(Vroll) );
+    Vy = r * sin( conv_rad( theta ) ) * ( 1 - fabs(Vroll) );
 }
 
-void OmniMove::input_cartesian(float x,float y,float Vroll,float roll_ratio,float MachineAng){
+void OmniMove::input_cartesian(float x,float y,float Vroll,float MachineAng){
     x = limit(-1,1,x);
     y = limit(-1,1,y);
     Vroll = limit(-1,1,Vroll);
-    roll_ratio = limit(0,1,roll_ratio);
     r = limit(0,1,hypotf(x,y));
     theta = conv_deg(atan2(y,x));
-    Vx = r * cos( conv_rad( theta - MachineAng ) ) * ( 1 - roll_ratio );
-    Vy = r * sin( conv_rad( theta - MachineAng ) ) * ( 1 - roll_ratio );
-    Vroll = Vroll * roll_ratio;
+    Vx = r * cos( conv_rad( theta - MachineAng ) ) * ( 1 - fabs(Vroll) );
+    Vy = r * sin( conv_rad( theta - MachineAng ) ) * ( 1 - fabs(Vroll) );
 }
 
 float OmniMove::output_(int n){