Diff: Point.cpp

Revision:

6:d0f5da9962f5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Point.cpp	Fri Sep 25 15:04:00 2015 +0000
@@ -0,0 +1,57 @@
+// Example: data structs and functions
+#include <stdio.h>
+#include <math.h>
+
+const double M_PI =3.141592653589793238463;
+const float l = 10; // distance between the motors
+const float armlength=15; // length of the arms from the motor
+    
+class Point
+{
+    public:
+    
+    float posX;
+    float posY;
+    float rotA;
+    float rotB;
+
+    bool fromCarthesian(float x, float y)
+    {
+        posX = x;
+        posY = y;
+        rotA = atan(y/x)*180/M_PI;
+        rotB = atan(y/(l-x))*180/M_PI;
+        
+        // function is done, return the struct type Point:
+        return true;
+    }
+    bool fromRotational(float a, float b)
+    {
+        rotA = a*M_PI/180;
+        rotB = b*M_PI/180;
+        posX = (tan(rotB)*l)/(tan(rotA)+tan(rotB));
+        posY = tan(rotA)*posX;
+        
+        return true;
+        
+    }
+    bool checkbounds()
+    {
+        if (rotA <= 0 or rotB <= 0){
+            return 0;
+        }
+        if (rotA > 90 or rotB > 90){
+            return 0;
+        }
+        if (sqrt(pow(posX,2)+pow(posY,2)) > armlength){ // too far from left arm
+            return 0;
+        }
+        if (sqrt(pow(l-posX,2)+pow(posY,2)) > armlength){ // too far from right arm
+            return 0;
+        }
+        return true;
+    }
+};
+
+
+