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sampleProgram
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:
- 41:a4e37077833b
- Parent:
- 10:04f2a82cfd89
- Child:
- 52:f5ae47e683fa
--- 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; }