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Commit 0263fa0d authored by Nathan Girard's avatar Nathan Girard
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Add rotation ICRA

parent 4aa5235f
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Standard_robot/MDK-ARM/Standard_robot.uvguix.natha
View file @ 0263fa0d
......@@ -111,7 +111,7 @@
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......@@ -3603,12 +3603,12 @@
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<Name>../Src/main.c</Name>
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......
Standard_robot/Src/main.c
View file @ 0263fa0d
......@@ -186,10 +186,10 @@ int main(void)
// PWM_SetAllDuty(&htim1, 0, 0, 0, 0);
}
m3508_frontleft.target = 4*rc_ctrl.rc.ch[0] + 4*rc_ctrl.rc.ch[1];
m3508_frontright.target = -(4*rc_ctrl.rc.ch[0] - 4*rc_ctrl.rc.ch[1]);
m3508_backleft.target = -(4*rc_ctrl.rc.ch[0] + 4*rc_ctrl.rc.ch[1]);
m3508_backright.target = 4*rc_ctrl.rc.ch[0] - 4*rc_ctrl.rc.ch[1];
m3508_frontleft.target = 4*rc_ctrl.rc.ch[0] + 4*rc_ctrl.rc.ch[1] - 4*rc_ctrl.rc.ch[4];
m3508_frontright.target = -(4*rc_ctrl.rc.ch[0] - 4*rc_ctrl.rc.ch[1] + 4*rc_ctrl.rc.ch[4]);
m3508_backleft.target = -(4*rc_ctrl.rc.ch[0] + 4*rc_ctrl.rc.ch[1] + 4*rc_ctrl.rc.ch[4]);
m3508_backright.target = 4*rc_ctrl.rc.ch[0] - 4*rc_ctrl.rc.ch[1] - 4*rc_ctrl.rc.ch[4];
get_motor_data(&m3508_frontleft);
get_motor_data(&m3508_frontright);
......
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