brendanhaines/mecanum
1
0
Fork 0
mirror of https://github.com/brendanhaines/mecanum.git synced 2024-12-25 10:27:12 -07:00
Code Issues Packages Projects Releases Wiki Activity

adds aileron/elevator scalability

Browse Source
This commit is contained in:
Brendan Haines 2015-05-16 19:56:16 -06:00
parent be2130610c
commit 23ae387dd5
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/Robot.cpp
View File

@ -8,6 +8,8 @@
// Tuning Parameters
#define throScale 1
#define ruddScale 1
#define aileScale 2
#define elevScale 1
// Wiring Parameters
#define frontLeftChannel 4
@ -86,7 +88,7 @@ public:
double rudd = InterLink->getRudd();
SmartDashboard::PutNumber( "Rudder", rudd );
double driveAngle = atan2( -aile, elev );
double driveAngle = atan2( -aile*aileScale, elev*elevScale );
SmartDashboard::PutNumber( "Drive Angle", driveAngle );
double driveSpeed = sqrt( aile*aile + elev*elev );