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tutorials:stm32f3_discovery_with_paparazzi [2016/05/11 21:58]
dgarcia [Values for commands]
tutorials:stm32f3_discovery_with_paparazzi [2016/05/11 21:59]
dgarcia [Values for commands]
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 For the side with x motors, for motor i: For the side with x motors, for motor i:
  
-$$v_i=\frac{min[a,​b]}{x}\times \frac{256}{sin(C_a)} \times sin(c_i)$$+$$v_i=\frac{min[a,​b]}{x}\times \frac{256}{sin(C_x)} \times sin(c_i)$$
  
 where c<​sub>​i</​sub>​ is the angle of every motor. where c<​sub>​i</​sub>​ is the angle of every motor.
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 for side a: for side a:
  
-$$v_i=\frac{min[a,​b]}{b}\times \frac{256}{sin(C_a)} \times sin(c_i)$$+$$v_i=\frac{min[a,​b]}{a}\times \frac{256}{sin(C_a)} \times sin(c_i)$$
        
 for side b: for side b:
  • tutorials/stm32f3_discovery_with_paparazzi.txt
  • Last modified: 2016/05/11 21:59
  • by dgarcia