Diff: sample02.cpp

Revision:

6:1e1adccfb69a

Parent:

5:d49ec80a77a9

Child:

7:545facd1acac

diff -r d49ec80a77a9 -r 1e1adccfb69a sample02.cpp
--- a/sample02.cpp	Tue Jul 16 08:17:44 2019 +0000
+++ b/sample02.cpp	Wed Aug 21 07:11:10 2019 +0000
@@ -32,14 +32,16 @@
     if (nowDis < accdis) {
         
         counter = sqrt(2.0*accsec/maxspeed*nowDis);
-        vector = s_vector + (-1.0 * sin((2.0*PI/accsec)*counter) + (2.0*PI/accsec)*counter) / ((2.0*PI)/(maxspeed-s_vector));
+        vector = s_vector + (-1 * sin((2.0*PI/accsec)*counter) + (2.0*PI/accsec)*counter) / ((2.0*PI)/(maxspeed-s_vector));
         
     } else if (nowDis >= accdis && nowDis < accdis+middledis) {
         vector = maxspeed;
-    } else if (nowDis > (accdis+middledis) && nowDis <= targetDis) {
+    } else if (nowDis > (accdis+middledis)) {
         
         counter = sqrt(2.0*decsec/maxspeed*fabs(targetDis-nowDis));
-        vector = (-1.0 * sin((2.0*PI/decsec)*counter) + (2.0*PI/decsec)*counter) / (2.0*PI/maxspeed)*0.9;
+        vector = (-1 * sin((2.0*PI/decsec)*counter) + (2.0*PI/decsec)*counter) / (2.0*PI/maxspeed)*0.9;
+    } else {
+        vector = 0;
     }
     /***/
 }