Science Memeseum / Mbed 2 deprecated BeaconDemo_RobotCodeNew

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Dependencies:   mbed

Fork of BeaconDemo_RobotCodeNew by James O'Keeffe

vector.cpp@24:d98c6e733dd6, 2017-03-13 (annotated)

Committer:
jhok500
Date:
Mon Mar 13 11:28:57 2017 +0000
Revision:
24:d98c6e733dd6
Parent:
12:daa53285b6e4 
11:28 13/03

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 12:daa53285b6e4 1 #include "main.h"
jah128 12:daa53285b6e4 2 #include <math.h>
jah128 12:daa53285b6e4 3
jah128 12:daa53285b6e4 4
jah128 12:daa53285b6e4 5 struct FloatVector addVector(struct FloatVector in_vector, int angle, int distance){
jah128 12:daa53285b6e4 6 struct FloatVector out_vector;
jah128 12:daa53285b6e4 7 float sin_component_old = sin(in_vector.angle * TO_RAD) * in_vector.distance;
jah128 12:daa53285b6e4 8 float cos_component_old = cos(in_vector.angle * TO_RAD) * in_vector.distance;
jah128 12:daa53285b6e4 9 float sin_component_new = sin(angle * TO_RAD) * distance;
jah128 12:daa53285b6e4 10 float cos_component_new = cos(angle * TO_RAD) * distance;
jah128 12:daa53285b6e4 11 float sin_component_sum = sin_component_old + sin_component_new;
jah128 12:daa53285b6e4 12 float cos_component_sum = cos_component_old + cos_component_new;
jah128 12:daa53285b6e4 13 out_vector.distance = sqrt((sin_component_sum * sin_component_sum) + (cos_component_sum * cos_component_sum));
jah128 12:daa53285b6e4 14 out_vector.angle = atan2(sin_component_sum ,cos_component_sum) * TO_DEG;
jah128 12:daa53285b6e4 15 //out("Angle:%f Distance:%f\n",out_vector.angle,out_vector.distance);
jah128 12:daa53285b6e4 16 return out_vector;
jah128 12:daa53285b6e4 17 }