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ライブラリ化を行った後
Dependencies: QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo
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Diff: mecanum.h
- Revision:
- 55:2dd2f161ebaf
- Parent:
- 52:f5ae47e683fa
- Child:
- 56:a7bd860b85b6
--- a/mecanum.h Sat Sep 16 01:05:23 2017 +0000 +++ b/mecanum.h Sat Sep 16 05:59:00 2017 +0000 @@ -21,6 +21,7 @@ */ #define rotaPower 0.6 +#define rotaStickPower 0.2 #define boost_A 0.5 #define boost_K 0.9 #define PI 3.141592 @@ -37,10 +38,10 @@ vx = Vx / 2 * cos(rad) - Vy / 2 * sin(rad); vy = Vx / 2 * sin(rad) + Vy / 2 * cos(rad); - V1 = vx + vy + rotaPower * (l1 - r1) + w; - V2 = -vx - vy + rotaPower * (l1 - r1) + w; - V3 = -vx + vy + rotaPower * (l1 - r1) + w; - V4 = vx - vy + rotaPower * (l1 - r1) + w; + V1 = vx + vy + rotaPower * (l1 - r1) + rotaStickPower * w; + V2 = -vx - vy + rotaPower * (l1 - r1) + rotaStickPower * w; + V3 = -vx + vy + rotaPower * (l1 - r1) + rotaStickPower * w; + V4 = vx - vy + rotaPower * (l1 - r1) + rotaStickPower * w; }