自己位置推定機能を追加
Dependencies: SBDBT arrc_mbed BNO055
Diff: TARGETco.cpp
- Revision:
- 1:ea880e226e5a
- Parent:
- 0:a1238c4cd105
diff -r a1238c4cd105 -r ea880e226e5a TARGETco.cpp --- a/TARGETco.cpp Wed Jan 19 12:43:26 2022 +0000 +++ b/TARGETco.cpp Thu Jan 20 07:27:53 2022 +0000 @@ -16,7 +16,7 @@ void TARGETco::cal_angular(){ Xvelocity = Xpower * cos(theta) - Ypower * sin(theta); - Yvelocity = Xpower * sin(theta) + Ypower * cos(theta); + Yvelocity = -Xpower * sin(theta) - Ypower * cos(theta); target[0] = -Xvelocity; target[1] = -Yvelocity; target[2] = Xvelocity;