ken fuji
/
omuni3
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Fork of
omuni
by 
gaku takasawa
Revision 6:d01b00b57d54, committed 2017-10-23
- Comitter:
- fujikenac
- Date:
- Mon Oct 23 13:29:16 2017 +0000
- Parent:
- 5:5133533ed6d2
- Commit message:
- fix roll
Changed in this revision
| P_motor.lib | Show annotated file Show diff for this revision Revisions of this file |
| omuni.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/P_motor.lib Mon Oct 16 09:57:14 2017 +0000 +++ b/P_motor.lib Mon Oct 23 13:29:16 2017 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/fujikenac/code/P_motor/#9d893f55d17f +https://os.mbed.com/users/fujikenac/code/P_motor/#483f189d3508
--- 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