Diff: omuni.cpp

Revision:

5:5133533ed6d2

Parent:

3:51f47bf405a0

Child:

6:60f122986f29

diff -r b0c22630c75c -r 5133533ed6d2 omuni.cpp
--- 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);