hirromu takaki / omuni_power

takaki`s wheel.h file

Dependents:   kourobo kourobo5

Diff: wheel.h

Revision:
1:794a087f6216
Parent:
0:dfeb240dbbc1
--- a/wheel.h	Thu Feb 28 05:28:24 2019 +0000
+++ b/wheel.h	Tue Mar 05 12:59:56 2019 +0000
@@ -1,12 +1,7 @@
 double omuni_speed(double x,double y,double direction)
 {
-    double atanval,power,sinval;
+    double atanval,sinval;
     atanval = atan2(y,x);
-    if(abs(x) >= abs(y)) {
-        power = abs(x);
-    } else if (abs(x) < abs(y)) {
-        power = abs(y);
-    }
-    sinval = sin((atanval - direction) * power);
+    sinval = sin(atanval - direction);
     return sinval;
 }
\ No newline at end of file