File content as of revision 1:6cace9fdb088:

#include "angleandposition.h"
#include "mbed.h"
#include "math.h"

const double bar1 = 260; // length bar 1 [mm]
const double bar2 = 342; // length bar 2 [mm]
const double base_spacing = 105.59; // spacing between the DC-motors [mm]
const double pi = 3.1415926535897;

double virt_bar_ref = sqrt(pow(bar2,2)- pow(bar1,2));


angleandposition::angleandposition(void)
{

}

float angleandposition::positiontoangle1(float x_position, float y_position)//rigth arm
{
    double virt_bar_right = sqrt( pow(x_position-0.5*base_spacing,2) + pow(y_position,2) );

    double d2_square = pow(bar1,2) - pow( ( pow(virt_bar_right,2) + pow(bar1,2) - pow(bar2,2) ) / (-2*virt_bar_right) ,2);

    double d2 = sqrt(d2_square);
    
    double phi;
    if (virt_bar_right <= virt_bar_ref) {
        double   phi = pi-asin(d2/bar1);
    } else {
        double phi = asin(d2/bar1);
    }
    double theta_r = phi + acos((x_position - 0.5*base_spacing)/virt_bar_right);
    return theta_r;
}

float angleandposition::positiontoangle2(float x_position, float y_position)//left arm
{
    double virt_bar_left = sqrt(pow(x_position + 0.5*base_spacing ,2) + pow(y_position,2) );
    
    double d2_square = pow(bar1,2) - pow( ( pow(virt_bar_left,2) + pow(bar1,2) - pow(bar2,2) ) / (-2*virt_bar_left), 2);
    
    double d2 = sqrt(d2_square);
    
    double phi;
    
    if (virt_bar_left <= virt_bar_ref) {
        double  phi = pi-asin(d2/bar1);
    } else {
        double phi = asin(d2/bar1);
    }

    double theta_l = pi - phi - acos((x_position + 0.5*base_spacing)/virt_bar_left);

    return theta_l;
}