Gerjan Wolterink
/
Pregelaar
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Dependencies: Encoder MODSERIAL mbed
Revision 9:ca6c6295b5f1, committed 2013-11-04
- Comitter:
- gerjan
- Date:
- Mon Nov 04 21:14:30 2013 +0000
- Parent:
- 8:e3e972c4e249
- Child:
- 10:36281503362a
- Commit message:
- met werkende assen
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Nov 04 21:05:55 2013 +0000
+++ b/main.cpp Mon Nov 04 21:14:30 2013 +0000
@@ -73,8 +73,8 @@
//x = (potmeter1.read()*297.0);
//y = (potmeter2.read()*210.0);
- x = sin(inputsinus)*297.0;
- y = 0;
+ x = 0;//sin(inputsinus)*297.0;
+ y = sin(inputsinus)*210.0;
inputsinus = inputsinus + (Ts*0.1)*pi;
@@ -97,7 +97,7 @@
//theta = atan(y/x)+0.25*pi;
//r = (sqrt(x*x+y*y)) ;// * (2577/461.335);
- theta = atan((y+69.80)/(x+69.80));
+ theta = atan((x+69.80)/(y+69.80));
r = sqrt( ((x + 69.8)*(x + 69.8))+ ((y + 69.8)*(y + 69.8)) );