yuto kawamura
/
asimawari
omuni
x.y_theta_dainyuu.h
- Committer:
- yuto17320508
- Date:
- 2017-10-21
- Revision:
- 0:1787ed4e6e61
File content as of revision 0:1787ed4e6e61:
//////////x, y代入して出力/////////////////// void for_act() { sita = -1.0*(atan2((double)x,(double)y))*180/Pi; sita_2=90-sita; for (i=0; i<=2; i++) { M[i]=sin((sita_2-(fai+i*(-120)))*Pi/180); } for (i=0; i<=2; i++) { M[i]=M[i]*power[i]/max();//方向による出力の差を補正 } motor_act(); }