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
diff -r 698586aa0c5a -r f1085de93385 Mecanum.cpp --- 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