岡本 陸
test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: Walk/Walk.cpp
- Revision:
- 12:2ac37fe6c3bb
- Parent:
- 11:e81425872740
- Child:
- 13:e7ecdb20665a
diff -r e81425872740 -r 2ac37fe6c3bb Walk/Walk.cpp
--- a/Walk/Walk.cpp Mon Feb 11 12:56:00 2019 +0000
+++ b/Walk/Walk.cpp Mon Feb 11 13:32:46 2019 +0000
@@ -20,7 +20,7 @@
//空中の動き.楕円軌道
OneLeg Orbit::RiseEllipse_(OneLeg leg, float phasetime_s)
{
- float rad = M_PI * phasetime_s / risetime_s_ + M_PI;
+ float rad = M_PI * (phasetime_s -stridetime_s_)/ risetime_s_ + M_PI;
float x_m = stride_m_ * 0.5 * cos(rad);
float y_m = height_m_ * sin(rad) + ground_m_;
leg.SetXY_m(x_m, y_m);