hidaka sato / Mbed 2 deprecated WRS2020_mecanum_node

WRS2020用にメカナム台車をROS化

Dependencies:   mbed PID2 JY901 QuaternionMath ros_lib_melodic i2cmaster WRS2020_mecanum_node

Dependents:   WRS2020_mecanum_node

Diff: robot_operator.h

Revision:
4:40167450cdf0
Parent:
3:cf06189a7511
--- a/robot_operator.h	Wed Nov 11 07:34:11 2020 +0000
+++ b/robot_operator.h	Thu Nov 12 07:36:18 2020 +0000
@@ -87,10 +87,10 @@
 {   
     float v[MOTOR_NUM] = {};
     // 各車輪の速度
-    v[0] = -vel_x - vel_y - L * vel_theta;  // m/sec
-    v[1] =  vel_x - vel_y - L * vel_theta;
-    v[2] =  vel_x + vel_y - L * vel_theta;
-    v[3] = -vel_x + vel_y - L * vel_theta;
+    v[0] = -vel_x + vel_y - L * vel_theta;  // m/sec
+    v[1] = -vel_x - vel_y - L * vel_theta;
+    v[2] =  vel_x - vel_y - L * vel_theta;
+    v[3] =  vel_x + vel_y - L * vel_theta;
     
     // 本当はこうするべき
     // f = v * ppr / ( 2*PI * r);