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pull/1/head
EmaMaker 2019-11-12 09:03:18 +01:00
parent d738c907b0
commit 993383a53d
1 changed files with 1 additions and 6 deletions
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src/drivecontroller.cpp
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@ -36,15 +36,10 @@ void DriveController::drive(int dir, int speed, int tilt){
speed3 = -(speed1);
speed4 = -(speed2);
/*speed1 = ((-(sins[((direzione - 45) + 360) % 360])) * vMot); // mot 1
speed2 = ((-(sins[((direzione - 135) + 360)% 360])) * vMot); // mot 2
speed3 = -(speed1); // mot 3
speed4 = -(speed2);*/
// calcola l'errore di posizione rispetto allo 0
delta = compass->getValue();
if(delta > 180) delta = delta-360;
delta = delta - pTilt;
delta = delta - tilt;
// calcola correzione proporzionale
errorP = KP * delta;