yuki honma / UnderBody

下半身制御用ライブラリ Odometry...自己位置推定 Mecanum...メカナムホイール用 Bezier...ベジエ曲線 RoboClaw...MD用

Dependents:   TOUTEKI_all_mbed mbed_test_program

Diff: Mecanum.cpp

Revision:
2:f1085de93385
Parent:
1:698586aa0c5a
Child:
3:9c3f2662974e
--- a/Mecanum.cpp	Sun Sep 02 10:47:46 2018 +0000
+++ b/Mecanum.cpp	Sun Sep 02 11:36:38 2018 +0000
@@ -7,10 +7,10 @@
 void Mecanum::move(double direction, double speed, double revolution){
     double duty[4];
     
-    duty[0] = (cos(direction) + sin(direction))*speed + revolution;//右前
-    duty[1] = (cos(direction) - sin(direction))*speed - revolution;//左前
-    duty[2] = (cos(direction) - sin(direction))*speed + revolution;//右後
-    duty[3] = (cos(direction) + sin(direction))*speed - revolution;//左後
+    duty[0] = (cos(direction) + sin(direction))*speed - revolution;//右前
+    duty[1] = (cos(direction) - sin(direction))*speed + revolution;//左前
+    duty[2] = (cos(direction) - sin(direction))*speed - revolution;//右後
+    duty[3] = (cos(direction) + sin(direction))*speed + revolution;//左後
     
     MD.SpeedM1(ADR_MD1, (int)(duty[0]*CMD));//右前
     MD.SpeedM2(ADR_MD1, (int)(duty[2]*CMD));//右後