kusano kiyoshige / Mbed 2 deprecated 17robo_tokyo_kaede

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

Fork of 17robo_fuzi by kusano kiyoshige

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;
             
         }