yuto kawamura
/
asimawari
omuni
Diff: x.y_theta_dainyuu.h
- Revision:
- 0:1787ed4e6e61
diff -r 000000000000 -r 1787ed4e6e61 x.y_theta_dainyuu.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/x.y_theta_dainyuu.h Sat Oct 21 07:57:16 2017 +0000 @@ -0,0 +1,14 @@ +//////////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(); + +} \ No newline at end of file