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--- tutorials:stm32f3_discovery_with_paparazzi [2016/05/12 02:53] – converting images to mathematical formulas dgarcia
+++ tutorials:stm32f3_discovery_with_paparazzi [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ Line 225: / Line 225: @@
 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.
@@ Line 232: / Line 232: @@
 for side a:
-v<sub>i</sub>=[MIN(a,b)/b]*[256/sin(C<sub>b</sub>)]*sin(c<sub>i</sub>)
+$$v_i=\frac{min[a,b]}{a}\times \frac{256}{sin(C_a)} \times sin(c_i)$$
 for side b:
-v<sub>i</sub>=[MIN(a,b)/b]*[256/sin(C<sub>b</sub>)]*sin(c<sub>i</sub>)
+$$v_i=\frac{min[a,b]}{b}\times \frac{256}{sin(C_b)} \times sin(c_i)$$
 ====Some useful configurations====