YUTO WATANABE / OmniMove

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Diff: OmniMove.cpp

Revision:
8:fb082466cfec
Parent:
7:9b9d488ebcfd
Child:
9:91ce72a587ad
--- a/OmniMove.cpp	Mon Apr 12 10:38:12 2021 +0000
+++ b/OmniMove.cpp	Fri Apr 23 09:01:44 2021 +0000
@@ -13,36 +13,36 @@
 
 void OmniMove::input_polar(float r,float theta,float Vroll){
     r = limit(0,1,r);
-    Vroll = limit(-1,1,Vroll);
-    Vx = r * cos( conv_rad( theta ) ) * ( 1 - fabs(Vroll) );
-    Vy = r * sin( conv_rad( theta ) ) * ( 1 - fabs(Vroll) );
+    this->Vroll = limit(-1,1,Vroll);
+    Vx = r * cos( conv_rad( theta ) ) * ( 1 - fabs(this->Vroll) );
+    Vy = r * sin( conv_rad( theta ) ) * ( 1 - fabs(this->Vroll) );
 }
 
 void OmniMove::input_polar(float r,float theta,float Vroll,float MachineAng){
     r = limit(0,1,r);
-    Vroll = limit(-1,1,Vroll);
-    Vx = r * cos( conv_rad( theta - MachineAng ) ) * ( 1 - fabs(Vroll) );
-    Vy = r * sin( conv_rad( theta - MachineAng ) ) * ( 1 - fabs(Vroll) );
+    this->Vroll = limit(-1,1,Vroll);
+    Vx = r * cos( conv_rad( theta - MachineAng ) ) * ( 1 - fabs(this->Vroll) );
+    Vy = r * sin( conv_rad( theta - MachineAng ) ) * ( 1 - fabs(this->Vroll) );
 }
 
 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);
+    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(Vroll) );
-    Vy = r * sin( conv_rad( theta ) ) * ( 1 - fabs(Vroll) );
+    Vx = r * cos( conv_rad( theta ) ) * ( 1 - fabs(this->Vroll) );
+    Vy = r * sin( conv_rad( theta ) ) * ( 1 - fabs(this->Vroll) );
 }
 
 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);
+    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 - MachineAng ) ) * ( 1 - fabs(Vroll) );
-    Vy = r * sin( conv_rad( theta - MachineAng ) ) * ( 1 - fabs(Vroll) );
+    Vx = r * cos( conv_rad( theta - MachineAng ) ) * ( 1 - fabs(this->Vroll) );
+    Vy = r * sin( conv_rad( theta - MachineAng ) ) * ( 1 - fabs(this->Vroll) );
 }
 
 float OmniMove::output_(int n){