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Fork of omuni by
Diff: omuni.cpp
- Revision:
- 5:5133533ed6d2
- Parent:
- 3:51f47bf405a0
--- 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);