hirromu takaki / wheelUnit

手動ｂ足回り

Dependents:   kobayashi_rei

Diff: wheelUnit.cpp

Revision:
1:3c9eaf598f21
Parent:
0:0d52f303ac08
Child:
2:9017bbe177b7
diff -r 0d52f303ac08 -r 3c9eaf598f21 wheelUnit.cpp
--- a/wheelUnit.cpp	Mon Jul 08 08:45:38 2019 +0000
+++ b/wheelUnit.cpp	Wed Jul 10 08:01:51 2019 +0000
@@ -13,7 +13,7 @@
 void WheelUnit::move(float x,float y,float turnPower)
 {
     omni.computeXY(x,y,turnPower);
-    for (int i = 0; i < 4; ++i) md[i]->setSpeed(omni.wheel[i]);
+    for (int i = 0; i < 4; ++i) md[i]->setSpeed(omni.wheel[i] * SPEEDRATE);
     print = omni.wheel[0];
     pc.printf("%f\n\r",print);
 }