Revision 1012
theta in motors should change now
| branches/simulator/projects/simulator/test/test_motors.c | ||
|---|---|---|
| 44 | 44 |
|
| 45 | 45 |
*x += newy * - sin(*theta); |
| 46 | 46 |
*y += newy * cos(*theta); |
| 47 |
|
|
| 48 |
*theta = fmod((t + *theta), (2 * M_PI)); |
|
| 47 |
|
|
| 48 |
int divide = (t+*theta)/(2*M_PI); |
|
| 49 |
*theta = (t+*theta) - (2*M_PI)*divide; |
|
| 49 | 50 |
if (*theta<0) *theta += 2 * M_PI; |
| 50 | 51 |
|
| 51 | 52 |
return 0; |
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