Diff: OmniMove.cpp

Revision:

1:e515f6a4da2e

Parent:

0:44476ac6ab91

Child:

2:4c4ff6bf6282

--- a/OmniMove.cpp	Wed Mar 24 16:33:58 2021 +0000
+++ b/OmniMove.cpp	Thu Mar 25 02:24:55 2021 +0000
@@ -2,7 +2,7 @@
 #include "math.h"
 #include "OmniMove.h"
 
-void OmuniMove::setup(int nWheel,float fstWheelAng){
+void OmniMove::setup(int nWheel,float fstWheelAng){
     this->nWheel = nWheel;
     m_pi = 3.1415;
     
@@ -12,19 +12,19 @@
     }
 }
 
-void OmuniMove::input_polar(float r,float theta,float Vroll,float roll_ratio){
+void OmniMove::input_polar(float r,float theta,float Vroll,float roll_ratio){
     Vx = r * cos( conv_rad( theta ) ) * ( 1 - roll_ratio );
     Vy = r * sin( conv_rad( theta ) ) * ( 1 - roll_ratio );
     this->Vroll = Vroll * roll_ratio;
 }
 
-void OmuniMove::input_polar(float r,float theta,float Vroll,float roll_ratio,float MachineAng){
+void OmniMove::input_polar(float r,float theta,float Vroll,float roll_ratio,float MachineAng){
     Vx = r * cos( conv_rad( theta - MachineAng ) ) * ( 1 - roll_ratio );
     Vy = r * sin( conv_rad( theta - MachineAng ) ) * ( 1 - roll_ratio );
     this->Vroll = Vroll * roll_ratio;
 }
 
-float OmuniMove::output(int nWheel){
+float OmniMove::output(int nWheel){
     if( nWheel < 8 ){
         return Vx*Vx_wheel[nWheel] + Vy*Vy_wheel[nWheel] + Vroll;
     }else{
@@ -32,16 +32,16 @@
     }
 }
 
-void OmuniMove::output(float *V){
+void OmniMove::output(float *V){
     for(i = 0;i < nWheel;i++){
         V[i] = Vx*Vx_wheel[i] + Vy*Vy_wheel[i] + Vroll;
     }
 }
 
-float OmuniMove::conv_deg(float _rad){
+float OmniMove::conv_deg(float _rad){
     return _rad * 180 / m_pi;
 }
 
-float OmuniMove::conv_rad(float _deg){
+float OmniMove::conv_rad(float _deg){
     return m_pi * _deg / 180;
 }