File content as of revision 2:703501924009:

#include "...."
#include "math.h"

int Theta1(float Angle)
{
    int Compare;
    int min_comp=1450;
    int max_comp=6500;
    int min_angle=0;
    int max_angle= 180;
    Compare=((max_comp-min_comp)/(max_angle-min_angle))*(Angle-min_angle)+
    return Compare;
}

int Theta2(float Angle)
{
    int Compare;
    int min_comp=1500;
    int max_comp=6900;
    int min_angle=-90;
    int max_angle= 90;
    Compare=((max_comp-min_comp)/(max_angle-min_angle))*(Angle-min_angle)+
    return Compare;  
}

int main(void) 
{ 
    float X=1.0; //desired X position of the end effector in cm
    float Y=1.0; //desired Y position of the end effector in cm 
    float r1=0.0;
    float phi1=0.0;
    float phi2=0.0;
    float phi3=0.0;
    float a2=6.0;
    float a4=5.5:
    float T1=0.0; //T1 is theta 1 in radians
    float T2=0.0; //T2 is theta 2 in radians
    
    r1=sqrt(X*X+Y*Y); //eguation 1
    phi1=acos(((a4*a4)-(a2*a2)-(r1*r1))/(-2.0*a2*r1)); //Equation2
    phi2=atan(Y/X); //Eguation 3
    T1=phi2-phi1;
    phi3=acos(((r1*r1)-(a2*a2)-(a4*a4))/(-2.0*a2*a4)); //Equation 5
    T2=3.14159-phi3; //Equation 6
    
    PWM_1_Start();
    for(;;)
    {
        PWM_1_WriteCompare1(Theta1((T1/3.14159)*180.0)); 
        PWM_1_WriteCompare2(Theta2((T2/3.14159)*180.0));
        CyDelay(2000);