Rosalyn Sleurink
Script voor het aansturen van de motor
Revision 0:cceb961bd0de, committed 2015-09-15
- Comitter:
- roosalyn
- Date:
- Tue Sep 15 09:10:43 2015 +0000
- Commit message:
- First version to calculate angles for the arms
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Sep 15 09:10:43 2015 +0000
@@ -0,0 +1,25 @@
+#include "mbed.h"
+#include <iostream>
+#include <string>
+#include <math.h>
+
+DigitalOut gpo(D0);
+DigitalOut led(LED_RED);
+
+float bereken_hoeken(float x, float y) {
+ float langste_zijde = sqrt(pow(x*4,2) + pow(y*4,2));
+ float alpha = acos((langste_zijde/2)/30);
+ float beta = 0.5*M_PI - alpha;
+ float hoek_arm2 = 2*beta;
+ float hoek_arm1 = atan((4*y)/(4*x)) + alpha;
+ return hoek_arm2;
+}
+
+int main()
+{
+ printf("%.2f\n",bereken_hoeken(4,4));
+ printf("%.4f\n",bereken_hoeken(3,7));
+ printf("%.4f\n",bereken_hoeken(5,9));
+
+ return 0;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Sep 15 09:10:43 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/ba1f97679dad \ No newline at end of file