Bチーム / Mbed 2 deprecated 4wd_omni

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 4:076faa2578a4, committed 2014-07-01

Comitter:
Hatter
Date:
Tue Jul 01 08:57:18 2014 +0000
Parent:
2:40cfcd06ac8b
Commit message:
pin????PWM????????????????

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Jun 30 07:27:05 2014 +0000
+++ b/main.cpp	Tue Jul 01 08:57:18 2014 +0000
@@ -19,7 +19,6 @@
 
 void moveOmni(int ox,int oy)
 {    
-    
     double trans[4] = {0};
 
     trans[0] = ox*(cos(0.75*PI)) + oy*(sin(0.75*PI));
@@ -28,7 +27,6 @@
     trans[3] = ox*(cos(0.25*PI)) + oy*(sin(0.25*PI));
 
     for(int i=0;i<4;i++){
-
             if(trans[i]>0){
                 motor[i*2] = 1;
                 motor[i*2+1] = 0;                               
@@ -41,10 +39,7 @@
             trans[i]=100;}
             pwm[i] = (trans[i]/100.0);        
     }
-
-   
-    pc.printf("motor:%f, motor:%f, motor:%f, motor:%f\n",trans[0],trans[1],trans[2],trans[3]);
-    
+    pc.printf("motor:%f, motor:%f, motor:%f, motor:%f\n",trans[0],trans[1],trans[2],trans[3]);  
 }  
 
 int main()
@@ -65,10 +60,8 @@
             case 0xD: ix = iy = 50; break;
             case 0xB: ix = iy = -100; break;        
             case 0x7: ix = iy = -50; break;
-            }
-            
-        moveOmni(ix,iy);  
-        
+            }            
+        moveOmni(ix,iy);          
         check = !check; 
     }