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adds aileron/elevator scalability

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