hirromu takaki / omuni_power

takaki`s wheel.h file

Dependents:   kourobo kourobo5

wheel.h

Committer:
THtakahiro702286
Date:
2019-02-28
Revision:
0:dfeb240dbbc1
Child:
1:794a087f6216

File content as of revision 0:dfeb240dbbc1:

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;
}