Science Memeseum
/
BeaconDemo_RobotCodeA
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Dependencies: mbed
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BeaconDemo_RobotCode
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Science Memeseum
Diff: vector.cpp
- Revision:
- 12:daa53285b6e4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/vector.cpp Tue Oct 27 13:03:10 2015 +0000
@@ -0,0 +1,17 @@
+#include "main.h"
+#include <math.h>
+
+
+struct FloatVector addVector(struct FloatVector in_vector, int angle, int distance){
+ struct FloatVector out_vector;
+ float sin_component_old = sin(in_vector.angle * TO_RAD) * in_vector.distance;
+ float cos_component_old = cos(in_vector.angle * TO_RAD) * in_vector.distance;
+ float sin_component_new = sin(angle * TO_RAD) * distance;
+ float cos_component_new = cos(angle * TO_RAD) * distance;
+ float sin_component_sum = sin_component_old + sin_component_new;
+ float cos_component_sum = cos_component_old + cos_component_new;
+ out_vector.distance = sqrt((sin_component_sum * sin_component_sum) + (cos_component_sum * cos_component_sum));
+ out_vector.angle = atan2(sin_component_sum ,cos_component_sum) * TO_DEG;
+ //out("Angle:%f Distance:%f\n",out_vector.angle,out_vector.distance);
+ return out_vector;
+}
\ No newline at end of file