ken fuji
/
omuni3
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Fork of
omuni
by 
gaku takasawa
Diff: omuni.cpp
- Revision:
- 5:5133533ed6d2
- Parent:
- 3:51f47bf405a0
- Child:
- 6:d01b00b57d54
diff -r b0c22630c75c -r 5133533ed6d2 omuni.cpp
--- a/omuni.cpp Mon Oct 16 09:26:26 2017 +0000
+++ b/omuni.cpp Mon Oct 16 09:57:14 2017 +0000
@@ -23,7 +23,7 @@
omuni::omuni(I2C* i2c_,int8_t addr1,int8_t addr2,int8_t addr3, double delta)
- :i2c(i2c_),m1(i2c_,addr1, delta),m2(i2c_,addr2, delta),m3(i2c_,addr3, delta)
+ :i2c(i2c_),m1(i2c_,addr1),m2(i2c_,addr2),m3(i2c_,addr3)
{
RXData[0] = 'H';
RXData[1] = 0 ;
@@ -48,9 +48,9 @@
float w = 0;
if(r1 > 0.1F) {
if(sieta1 > PI/3 && sieta1 < PI*2/3.0)
- w = PI/4;
+ w = PI/3;
if((sieta1 < -PI/3 && sieta1 > -2*PI/3.0))
- w = -PI/4;
+ w = -PI/3;
}
float s1 = r2*float(sin(alpha)*-x2*0.01) + float(L*w);
float s2 = r2*float(sin(alpha+4.0/3*PI)*-x2 - cos(alpha+4.0/3*PI)*y2)*0.01 + float(L*w);