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

Mecanum.cpp

Committer:
yuki17100
Date:
2018-09-02
Revision:
2:f1085de93385
Parent:
1:698586aa0c5a
Child:
3:9c3f2662974e

File content as of revision 2:f1085de93385:

#include "Mecanum.h"

Mecanum::Mecanum() : MD(115200, PIN_MD, NC){
}


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
    
    MD.SpeedM1(ADR_MD1, (int)(duty[0]*CMD));//右前
    MD.SpeedM2(ADR_MD1, (int)(duty[2]*CMD));//右後
    MD.SpeedM1(ADR_MD2, (int)(duty[3]*CMD));//左後
    MD.SpeedM2(ADR_MD2, (int)(duty[1]*CMD));//左前
    
}