File content as of revision 2:3d159bed27c1:

#include "mbed.h"
#include "AX12.h"

int main() {

    AX12 m7 (p28, p27, 7);
    AX12 m8 (p28, p27, 8);
    Serial pc(USBTX,USBRX);
    float theta_a_x;
    float theta_a_y;
    float theta_a_x_rad;
    float theta_8_x ;
    float theta_7_x;
    float theta_a_y_rad;
    float theta_7_y;
    float theta_8_r_y;
    float theta_8_y;
    float theta_7_m;
    float theta_8_m;
    
    m7.SetGoal(150);
    wait(1);
    m8.SetGoal(150);
    wait(1);
        
    while (1) {
        theta_a_x = 0;
        theta_a_x_rad = theta_a_x*(3.14159/180);
        theta_8_x = (theta_a_x/0.34);
        theta_7_x = ((180/3.14159)*(asin((11.4/8)*theta_a_x_rad)));

        theta_a_y = 0;
        theta_a_y_rad = theta_a_y*3.14159/180;
        theta_7_y = -1.43*theta_a_y;
        theta_8_r_y = -asin((20.94/8)*sin(theta_a_y_rad));
        theta_8_y= (theta_8_r_y*180/3.14159);
        
        theta_7_m = 150 + theta_7_x + theta_7_y;
        theta_8_m = 150 - theta_8_x + theta_8_y;
        m7.SetGoal(theta_7_m);
        m8.SetGoal(theta_8_m);
        pc.printf("\n\r7m: %05f 8m: %05f",theta_7_m,theta_8_m);
    }
}