Diff: move.cpp

Revision:

23:e30ffaeb3e0f

Parent:

22:eed10c0b7fe0

Child:

24:d041fc34d846

--- a/move.cpp	Sat Sep 10 17:04:45 2016 +0000
+++ b/move.cpp	Sat Sep 10 17:06:05 2016 +0000
@@ -108,7 +108,7 @@
     else if(coordinateTheta() < rad) np = -1;
     else return;
 
-    move((-np)*rightspeed, (np)*leftspeed);
+    move((-np)*leftspeed, (np)*rightspeed);
 
     while(1) {
         update_np();
@@ -139,7 +139,7 @@
 
     update();
 
-    move(rightspeed, -leftspeed);
+    move(leftspeed, -rightspeed);
 
     while(1) {
         update();
@@ -169,7 +169,7 @@
 
     update();
 
-    move((-1)*rightspeed, leftspeed);
+    move((-1)*leftspeed, rightspeed);
 
     while(1) {
         update();
@@ -284,8 +284,8 @@
         else
             daikei = 1;
 
-        move(daikei * (rightspeed*(1-ratio) + k*(*disorder) - k_theta*dtheta) + rightspeed*ratio,
-             daikei * (leftspeed *(1-ratio) - k*(*disorder) + k_theta*dtheta) + leftspeed *ratio);
+        move(daikei * (leftspeed*(1-ratio) + k*(*disorder) - k_theta*dtheta) + leftspeed*ratio,
+             daikei * (rightspeed *(1-ratio) - k*(*disorder) + k_theta*dtheta) + rightspeed *ratio);
 
         //pc2.printf("d_length:%d disorder:%d rs:%f ls:%f daikei:%f\n\r", *d_length, *disorder, k*(*disorder) - k_theta*dtheta, -k*(*disorder) + k_theta*dtheta, daikei);
         if((direction > 0 && *d_length <= 0) || (direction < 0 &&  *d_length >= 0)) {
@@ -353,8 +353,8 @@
         } else
             daikei = 1;
 
-        move(daikei * (rightspeed*(1-ratio) - k*disorder - k_theta*dtheta) + rightspeed*ratio,
-             daikei * (leftspeed *(1-ratio) + k*disorder + k_theta*dtheta) + leftspeed *ratio);
+        move(daikei * (leftspeed*(1-ratio) - k*disorder - k_theta*dtheta) + leftspeed*ratio,
+             daikei * (rightspeed *(1-ratio) + k*disorder + k_theta*dtheta) + rightspeed *ratio);
 
 
         pc2.printf("length:%f, d_length:%d, vx:%d, vy:%d\n\r", length, d_length, virtual_coordinateX(), virtual_coordinateY());