Diff: TARGETco.cpp

Revision:

0:a1238c4cd105

Child:

1:ea880e226e5a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TARGETco.cpp	Wed Jan 19 12:43:26 2022 +0000
@@ -0,0 +1,32 @@
+#include "TARGETco.hpp"
+
+void TARGETco::pass_val(double XPOWER,double YPOWER,double THETA){
+    Xpower = XPOWER;
+    Ypower = YPOWER;
+    theta = THETA;
+    
+    cal_angular();
+}
+
+void TARGETco::pass_target(double TARGET){
+    for(int i = 0;i < 4;i ++){
+        target[i] = TARGET;
+    }
+}
+
+void TARGETco::cal_angular(){
+    Xvelocity = Xpower * cos(theta) - Ypower * sin(theta);
+    Yvelocity = Xpower * sin(theta) + Ypower * cos(theta);
+    target[0] = -Xvelocity;
+    target[1] = -Yvelocity;
+    target[2] = Xvelocity;
+    target[3] = Yvelocity;
+}
+
+double TARGETco::obt_target1(){ return target[0]; }
+
+double TARGETco::obt_target2(){ return target[1]; }
+
+double TARGETco::obt_target3(){ return target[2]; }
+
+double TARGETco::obt_target4(){ return target[3]; }
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