Diff: 2017_3_b/2017_3_b.cpp

Revision:

2:158fea945e51

Parent:

0:6ed41770a6b7

Child:

5:8559e2a74af2

--- a/2017_3_b/2017_3_b.cpp	Tue Aug 22 06:00:58 2017 +0000
+++ b/2017_3_b/2017_3_b.cpp	Fri Aug 25 07:40:49 2017 +0000
@@ -10,15 +10,15 @@
     md_f = Create_MD_PID(pin_channelA_F, pin_channelB_F, NC, 500, QEI::X4_ENCODING, 
                          0.095 * 2, 0, 0.002 * 4, 500, 
                          pin_pwm_F, pin_dere_F);
-                         
+
     md_l = Create_MD_PID(pin_channelA_L, pin_channelB_L, NC, 500, QEI::X4_ENCODING,
     					 0.095 * 2, 0, 0.002 * 4, 500,
     					 pin_pwm_L, pin_dere_L);
-    
+
     md_r = Create_MD_PID(pin_channelA_R, pin_channelB_R, NC, 500, QEI::X4_ENCODING,
     					 0.095 * 2, 0, 0.002 * 4, 500,
     					 pin_pwm_R, pin_dere_R);
-    					 
+
     rev = arg_rev;
 }
 
@@ -27,14 +27,14 @@
     double dere, sp;
     double duty[3];
     double speed[3];
-    
+
     dere = atan2(arg_y, arg_x);
     sp = sqrt(pow(arg_x, 2.0) + pow(arg_y, 2.0));
-    
+
     speed[0] = cos(dere) * sp;   // vx
     speed[1] = sin(dere) * sp;   // vy
-    speed[2] = arg_rota;                // omega
-    
+    speed[2] = arg_rota;         // omega
+
     Matrix(speed, duty);
     for(int i = 0; i < 3; i++){
         if(fabs(duty[i]) > 1.0){
@@ -61,7 +61,7 @@
     keisu[2][0] = 1.0 / 2.0;
     keisu[2][1] = sqrt(3.0) / 2.0;
     keisu[2][2] = 1.0;
-    
+
     for(int i = 0; i < 3; i++){
         duty[i] = 0.0;
         for(int j = 0; j < 3; j++){