hirromu takaki / omuni_power

takaki`s wheel.h file

Dependents:   kourobo kourobo5

Diff: wheel.h

Revision:
0:dfeb240dbbc1
Child:
1:794a087f6216
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wheel.h	Thu Feb 28 05:28:24 2019 +0000
@@ -0,0 +1,12 @@
+double omuni_speed(double x,double y,double direction)
+{
+    double atanval,power,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);
+    return sinval;
+}
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