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Dependencies: QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo
Fork of
17robo_Practice1
by 
kusano kiyoshige
Diff: mecanum.h
- Revision:
- 41:a4e37077833b
- Parent:
- 10:04f2a82cfd89
- Child:
- 52:f5ae47e683fa
diff -r 2d6888448ab2 -r a4e37077833b mecanum.h
--- a/mecanum.h Thu Sep 07 10:12:08 2017 +0000
+++ b/mecanum.h Fri Sep 08 04:00:07 2017 +0000
@@ -37,10 +37,10 @@
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) + w;
+ V2 = -vx - vy + rotaPower * (l1 - r1) + w;
+ V3 = -vx + vy + rotaPower * (l1 - r1) + w;
+ V4 = vx - vy + rotaPower * (l1 - r1) + w;
}