S.W Eijpe / Mbed 2 deprecated MatrixMult

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Dependencies:   MODSERIAL mbed

MatrixMult.cpp

Committer:
SvenEijpe
Date:
2018-10-29
Revision:
0:9914ce5b3003
Child:
1:fda67b3a1100

File content as of revision 0:9914ce5b3003:

#include "mbed.h"
#include "math.h"
#include "MODSERIAL.h"

MODSERIAL pc(USBTX, USBRX);

int main()
{
   pc.baud(115200);
   pc.printf("Hello World!\r\n");
   float L0 = 0.1;
   float L1 = 0.326;
   float L2 = 0.209;
   float q1 = 0;
   float q2 = 0; 
   float Oe0_x;
   float inv_Oe0_x;
   float Oe0_y;
   float inv_Oe0_y;
       
//Oe0x
Oe0_x = L0 + cos(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) - L0*cos(q1) + (cos(q1)*cos(q2) - sin(q1)*sin(q2))*(L0 + L1 - L2) + sin(q1)*sin(q2)*(L0 + L1);
inv_Oe0_x = -Oe0_x;

//Oe0y
Oe0_y = sin(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) - L0*sin(q1) + (cos(q1)*sin(q2) + cos(q2)*sin(q1))*(L0 + L1 - L2) - cos(q1)*sin(q2)*(L0 + L1);
inv_Oe0_y = -Oe0_y;

pc.printf("Oe0_x = %f, Oe0_y = %f, inv_Oe0_x = %f and inv_Oe0_y = %f \r\n", Oe0_x, Oe0_y, inv_Oe0_x, inv_Oe0_y); // print the value of variable c




}