卒研
Fork of omuni by
Revision 7:76e11784ce6b, committed 2018-03-02
- Comitter:
- kikoaac
- Date:
- Fri Mar 02 02:54:58 2018 +0000
- Parent:
- 6:60f122986f29
- Commit message:
- ??
Changed in this revision
omuni.cpp | Show annotated file Show diff for this revision Revisions of this file |
omuni.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/omuni.cpp Wed Oct 25 08:53:17 2017 +0000 +++ b/omuni.cpp Fri Mar 02 02:54:58 2018 +0000 @@ -46,29 +46,22 @@ float x_2 = cos(sieta2); float y_2 = sin(sieta2); float w = 0; - if(r1 > 0.1F) { - if(sieta1 > PI/3 && sieta1 < PI*2/3.0) - w = PI/3; - if((sieta1 < -PI/3 && sieta1 > -2*PI/3.0)) - w = -PI/3; - } + w = PI/3*x1*0.01; + - if(r2) - { + //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 + //} + /*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
--- a/omuni.h Wed Oct 25 08:53:17 2017 +0000 +++ b/omuni.h Fri Mar 02 02:54:58 2018 +0000 @@ -10,7 +10,7 @@ class omuni{ private: I2C *i2c; - P_motor m1,m2,m3; + T_motor m1,m2,m3; char RXData[dataNum]; int8_t map(int8_t in, int8_t inMin, int8_t inMax, int8_t outMin, int8_t outMax);