yuto kawamura / Mbed 2 deprecated asimawari

omuni

Dependencies:   EC mbed

x.y_theta_dainyuu.h@0:1787ed4e6e61, 2017-10-21 (annotated)

Committer:
yuto17320508
Date:
Sat Oct 21 07:57:16 2017 +0000
Revision:
0:1787ed4e6e61
a; ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuto17320508 0:1787ed4e6e61 1 //////////x, y代入して出力///////////////////
yuto17320508 0:1787ed4e6e61 2 void for_act()
yuto17320508 0:1787ed4e6e61 3 {
yuto17320508 0:1787ed4e6e61 4 sita = -1.0*(atan2((double)x,(double)y))*180/Pi;
yuto17320508 0:1787ed4e6e61 5 sita_2=90-sita;
yuto17320508 0:1787ed4e6e61 6 for (i=0; i<=2; i++) {
yuto17320508 0:1787ed4e6e61 7 M[i]=sin((sita_2-(fai+i*(-120)))*Pi/180);
yuto17320508 0:1787ed4e6e61 8 }
yuto17320508 0:1787ed4e6e61 9 for (i=0; i<=2; i++) {
yuto17320508 0:1787ed4e6e61 10 M[i]=M[i]*power[i]/max();//方向による出力の差を補正
yuto17320508 0:1787ed4e6e61 11 }
yuto17320508 0:1787ed4e6e61 12 motor_act();
yuto17320508 0:1787ed4e6e61 13
yuto17320508 0:1787ed4e6e61 14 }