Rosalyn Sleurink / Mbed 2 deprecated frdm_project_hoek

Script voor het aansturen van de motor

Dependencies:   mbed

main.cpp@0:cceb961bd0de, 2015-09-15 (annotated)

Committer:
roosalyn
Date:
Tue Sep 15 09:10:43 2015 +0000
Revision:
0:cceb961bd0de
First version to calculate angles for the arms

Who changed what in which revision?

UserRevisionLine numberNew contents of line
roosalyn 0:cceb961bd0de 1 #include "mbed.h"
roosalyn 0:cceb961bd0de 2 #include <iostream>
roosalyn 0:cceb961bd0de 3 #include <string>
roosalyn 0:cceb961bd0de 4 #include <math.h>
roosalyn 0:cceb961bd0de 5
roosalyn 0:cceb961bd0de 6 DigitalOut gpo(D0);
roosalyn 0:cceb961bd0de 7 DigitalOut led(LED_RED);
roosalyn 0:cceb961bd0de 8
roosalyn 0:cceb961bd0de 9 float bereken_hoeken(float x, float y) {
roosalyn 0:cceb961bd0de 10 float langste_zijde = sqrt(pow(x*4,2) + pow(y*4,2));
roosalyn 0:cceb961bd0de 11 float alpha = acos((langste_zijde/2)/30);
roosalyn 0:cceb961bd0de 12 float beta = 0.5*M_PI - alpha;
roosalyn 0:cceb961bd0de 13 float hoek_arm2 = 2*beta;
roosalyn 0:cceb961bd0de 14 float hoek_arm1 = atan((4*y)/(4*x)) + alpha;
roosalyn 0:cceb961bd0de 15 return hoek_arm2;
roosalyn 0:cceb961bd0de 16 }
roosalyn 0:cceb961bd0de 17
roosalyn 0:cceb961bd0de 18 int main()
roosalyn 0:cceb961bd0de 19 {
roosalyn 0:cceb961bd0de 20 printf("%.2f\n",bereken_hoeken(4,4));
roosalyn 0:cceb961bd0de 21 printf("%.4f\n",bereken_hoeken(3,7));
roosalyn 0:cceb961bd0de 22 printf("%.4f\n",bereken_hoeken(5,9));
roosalyn 0:cceb961bd0de 23
roosalyn 0:cceb961bd0de 24 return 0;
roosalyn 0:cceb961bd0de 25 }