EE149
/
FinalProject
Final Project files for mBed development.
Diff: main.c
- Revision:
- 18:eab7b0e89398
- Parent:
- 17:c72c092fcdf7
- Child:
- 19:47759cf4f9b9
--- a/main.c Mon Dec 01 00:41:04 2014 +0000 +++ b/main.c Mon Dec 01 01:02:42 2014 +0000 @@ -189,9 +189,12 @@ // Main program loop. // robot_loop(); size_t bytes_read = 0; - int err, x, y, last_x, last_y; + int err, x, y, last_x, last_y, delta_x, delta_y; int offset = 0; char *cur, *next; + float angle, theta; + angle = 0; + theta = 0; ps_file = fopen("/local/test.ps", "r"); /* PS parsing loop. */ while (1) { @@ -203,7 +206,11 @@ cur = instbuf; while (cur[0] != '\0') { err = retrieve_inst(instbuf, &x, &y, &draw); - move(x, y, draw); + delta_x = x-last_x; + delta_y = y-last_y; + theta = tan(delta_x/delta_y); + theta *= 57.2957795; + delta_a = theta-angle; last_x = x; last_y = y; next = strchr(cur, '\n'); @@ -217,6 +224,8 @@ } // // We should never reach this point! + // + // Yes, we should... return 0; }