sample
Diff: sample02.cpp
- Revision:
- 3:8d1778dbf580
- Parent:
- 2:b51bb221438a
- Child:
- 4:3eefc20c8312
- Child:
- 6:1e1adccfb69a
diff -r b51bb221438a -r 8d1778dbf580 sample02.cpp --- a/sample02.cpp Tue Jul 09 08:44:22 2019 +0000 +++ b/sample02.cpp Thu Jul 11 08:25:18 2019 +0000 @@ -36,11 +36,10 @@ } else if (nowDis >= accdis && nowDis < accdis+middledis) { vector = maxspeed; - } else if (nowDis > (accdis+middledis)) { + } else if (nowDis > (accdis+middledis) && nowDis <= targetDis) { - counter = sqrt(2.0*accsec/maxspeed*fabs(targetDis-nowDis)); - vector = (-1.0 * sin((2.0*PI/accsec)*counter) + (2.0*PI/accsec)*counter) / (2.0*PI/maxspeed); - + 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; } /***/ }