Hiroki Tanaka / Mbed 2 deprecated foot_F446RE_nomal

STM32足回りプログラム

Dependencies:   mbed ros_lib_kinetic

Files at this revision

API Documentation at this revision

Revision 3:012e5d7bbfd5, committed 2019-07-09

Comitter:
TanakaRobo
Date:
Tue Jul 09 16:00:03 2019 +0000
Parent:
2:c040883ea536
Commit message:
first commit

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r c040883ea536 -r 012e5d7bbfd5 main.cpp
--- a/main.cpp	Tue Jul 09 15:57:00 2019 +0000
+++ b/main.cpp	Tue Jul 09 16:00:03 2019 +0000
@@ -252,8 +252,8 @@
         X += diff[0]*cos_yaw_2 - diff[1]*sin_yaw_2 - diff[2]*cos_yaw_2 + diff[3]*sin_yaw_2;
         Y += diff[0]*sin_yaw_2 + diff[1]*cos_yaw_2 - diff[2]*sin_yaw_2 - diff[3]*cos_yaw_2;
         T += diff[0]/Rotary_L/4 + diff[1]/Rotary_L/4 + diff[2]/Rotary_L/4 + diff[3]/Rotary_L/4;
-        cos_yaw_2 = cos(Yaw+PI_4)/2.0;
-        sin_yaw_2 = sin(Yaw+PI_4)/2.0;
+        cos_yaw_2 = cos(Yaw)/2.0;
+        sin_yaw_2 = sin(Yaw)/2.0;
         nowVx = Pspeed[0]*cos_yaw_2 - Pspeed[1]*sin_yaw_2 - Pspeed[2]*cos_yaw_2 + Pspeed[3]*sin_yaw_2;
         nowVy = Pspeed[0]*sin_yaw_2 + Pspeed[1]*cos_yaw_2 - Pspeed[2]*sin_yaw_2 - Pspeed[3]*cos_yaw_2;
         nowVt = Pspeed[0]/Rotary_L/4 + Pspeed[1]/Rotary_L/4 + Pspeed[2]/Rotary_L/4 + Pspeed[3]/Rotary_L/4;