syoboi drift

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Show/hide line numbers omniHairetu.cpp Source File

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 }