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move4wheel.h File Reference
四輪出力計算 motorのつき方、番号は
[1]↙︎....
More...
Go to the source code of this file.
Functions | |
void | CalMotorOut (double x_out, double y_out, double r_out) |
数学的なx,y,回転で出力を計算. | |
double | GetMotorOut (int motor_num) |
Detailed Description
四輪出力計算 motorのつき方、番号は
[1]↙︎....
↖︎[0]
[2]↘︎...↗ [3]
定数を変えれば容易に変更可能
Definition in file move4wheel.h.
Function Documentation
void CalMotorOut | ( | double | x_out, |
double | y_out, | ||
double | r_out | ||
) |
数学的なx,y,回転で出力を計算.
GetMotorOut(int motor_num) を呼び出せば値が得られる
- Parameters:
-
x_out 目標速度のx成分 y_out 目標速度のx成分 r_out 目標速度の回転成分
Definition at line 11 of file move4wheel.cpp.
double GetMotorOut | ( | int | motor_num ) |
- Parameters:
-
motor_num 車輪の番号(0,1,2,3)右上から反時計回りに定義
- Returns:
- motorOut[motor_num]
Definition at line 28 of file move4wheel.cpp.
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