hirromu takaki / omuni_power

takaki`s wheel.h file

Dependents:   kourobo kourobo5

Files at this revision

API Documentation at this revision

Revision 1:794a087f6216, committed 2019-03-05

Comitter:
THtakahiro702286
Date:
Tue Mar 05 12:59:56 2019 +0000
Parent:
0:dfeb240dbbc1
Commit message:
omuni wheel program; oliginal;

Changed in this revision

wheel.h Show annotated file Show diff for this revision Revisions of this file 
diff -r dfeb240dbbc1 -r 794a087f6216 wheel.h
--- 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;
 }
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