Diff: Mixer/Mixer.cpp

Branch:

yuri

Revision:

8:c96125e9ac70

Parent:

2:54fabc943f25

--- a/Mixer/Mixer.cpp	Wed Oct 17 12:18:29 2018 +0000
+++ b/Mixer/Mixer.cpp	Wed Nov 21 10:07:00 2018 +0000
@@ -19,7 +19,7 @@
     float const beta = 2.678e-11;
     
     //calcula as velocidades angulares conforme a relacao entre toque e forca e velocidade angular
-    w1 = ((1/(4*kl))* f_t) - ((1/(4*kl*l))* tau_phi) - ((1/(4*kl))* tau_theta) - ((1/(4*kd))* tau_psi)  ;
+    w1 = ((1/(4*kl))* f_t) - ((1/(4*kl*l))* tau_phi) - ((1/(4*kl)) * tau_theta) - ((1/(4*kd))* tau_psi)  ;
     w2 = ((1/(4*kl))* f_t) - ((1/(4*kl*l))* tau_phi) + ((1/(4*kl*l))* tau_theta) + ((1/(4*kd))* tau_psi);
     w3 = ((1/(4*kl))* f_t) + ((1/(4*kl*l))* tau_phi) + ((1/(4*kl*l))* tau_theta) - ((1/(4*kd))* tau_psi);
     w4 = ((1/(4*kl))* f_t) + ((1/(4*kl*l))* tau_phi) - ((1/(4*kl*l))* tau_theta) + ((1/(4*kd))* tau_psi);
@@ -50,10 +50,4 @@
     motor [3] = alpha *pow(w4 ,2) + beta * w4;
     
 
-}
-
-
-
-
-
-
+}
\ No newline at end of file