Diff: MatrixMult.cpp

Revision:

0:9914ce5b3003

Child:

1:fda67b3a1100

diff -r 000000000000 -r 9914ce5b3003 MatrixMult.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MatrixMult.cpp	Mon Oct 29 16:00:04 2018 +0000
@@ -0,0 +1,35 @@
+#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
+
+
+
+
+}
+