駿 高世 / Mbed 2 deprecated abu2019_mr1

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Dependencies:   mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic

Diff: myCan.cpp

Revision:
9:b20145b7e1ba
Parent:
8:80708bacb5b5
--- a/myCan.cpp	Thu Dec 20 20:54:35 2018 +0000
+++ b/myCan.cpp	Sun Jan 06 04:23:42 2019 +0000
@@ -100,7 +100,7 @@
     
     odom_xy.data.x = EncodeFixedNumber(pos.x());
     odom_xy.data.y = EncodeFixedNumber(pos.y());
-    EncodeFloat(pos.angle(), odom_angle.data.angle);
+    EncodeFloat(-pos.angle(), odom_angle.data.angle);//注意：マイナスをつけてる
 
     write(CANMessage(CreateSid(NORMAL_TYPE, ID_ODOM, ID_MAIN), odom_xy.array, 6));
     wait_ms(1);