hirromu takaki / omuni_power

takaki`s wheel.h file

Dependents:   kourobo kourobo5

wheel.h@0:dfeb240dbbc1, 2019-02-28 (annotated)

Committer:
THtakahiro702286
Date:
Thu Feb 28 05:28:24 2019 +0000
Revision:
0:dfeb240dbbc1
Child:
1:794a087f6216
takaki`s wheel.h file

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:dfeb240dbbc1 1 double omuni_speed(double x,double y,double direction)
THtakahiro702286 0:dfeb240dbbc1 2 {
THtakahiro702286 0:dfeb240dbbc1 3 double atanval,power,sinval;
THtakahiro702286 0:dfeb240dbbc1 4 atanval = atan2(y,x);
THtakahiro702286 0:dfeb240dbbc1 5 if(abs(x) >= abs(y)) {
THtakahiro702286 0:dfeb240dbbc1 6 power = abs(x);
THtakahiro702286 0:dfeb240dbbc1 7 } else if (abs(x) < abs(y)) {
THtakahiro702286 0:dfeb240dbbc1 8 power = abs(y);
THtakahiro702286 0:dfeb240dbbc1 9 }
THtakahiro702286 0:dfeb240dbbc1 10 sinval = sin((atanval - direction) * power);
THtakahiro702286 0:dfeb240dbbc1 11 return sinval;
THtakahiro702286 0:dfeb240dbbc1 12 }