syoboi drift
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omniHairetu.cpp
00001 #include "omniHairetu.h" 00002 00003 omniHairetu::omniHairetu(double wheelRad) 00004 { 00005 wheelrad = wheelRad; 00006 } 00007 00008 double omniHairetu::vec(double rad) 00009 { 00010 return sin(rad - wheelrad); 00011 } 00012 00013 double omniHairetu::rightDrift(double radR) 00014 { 00015 double turnR = sin(radR - wheelrad) / 2 - 0.5; 00016 if(turnR <= -1.0) 00017 { 00018 turnR = -1.0; 00019 } 00020 return turnR; 00021 } 00022 00023 double omniHairetu::leftDrift(double radL) 00024 { 00025 double turnL = sin(radL - wheelrad) / 2 + 0.5; 00026 if(turnL >= 1.0) 00027 { 00028 turnL = 1.0; 00029 } 00030 return turnL; 00031 }
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