ken fuji
/
omuni3
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Fork of
omuni
by 
gaku takasawa
Diff: omuni.cpp
- Revision:
- 6:d01b00b57d54
- Parent:
- 5:5133533ed6d2
diff -r 5133533ed6d2 -r d01b00b57d54 omuni.cpp
--- a/omuni.cpp Mon Oct 16 09:57:14 2017 +0000
+++ b/omuni.cpp Mon Oct 23 13:29:16 2017 +0000
@@ -52,15 +52,23 @@
if((sieta1 < -PI/3 && sieta1 > -2*PI/3.0))
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);
- float s3 = r2*float(sin(alpha+2.0/3*PI)*-x2 - cos(alpha+2.0/3*PI)*y2)*0.01 + float(L*w);
- m1 = s1;
- m2 = s2;
- m3 = s3;
- m1.run();
- m2.run();
- m3.run();
+
+ if(r2)
+ {
+ m1 = r2*float(sin(alpha)*-x2*0.01) + float(L*w);
+ m2 = r2*float(sin(alpha+4.0/3*PI)*-x2 - cos(alpha+4.0/3*PI)*y2)*0.01 + float(L*w);
+ m3 = r2*float(sin(alpha+2.0/3*PI)*-x2 - cos(alpha+2.0/3*PI)*y2)*0.01 + float(L*w);
+ m1.run();
+ m2.run();
+ m3.run();
+ }
+ else
+ {
+ float spdt = 0.5f * float(L*w);
+ m1.direct_controll(spdt);
+ m2.direct_controll(spdt);
+ m3.direct_controll(spdt);
+ }
//printf("%5.2f : %5.2f : %5.2f : %5.2f",(float)x2,(float)y2,sieta1*180/PI,r1);
//printf("\n");
}
\ No newline at end of file