Best Eight Projects with Arduino by Elif AVCU

Author:Elif AVCU [AVCU, Elif]
Language: eng
Format: azw3
Published: 2018-08-04T16:00:00+00:00

/*

- wait all of end points move to expect site

- blocking function

---------------------------------------------------------------------------*/

void wait_all_reach(void)

{

for (int i = 0; i < 4; i++) wait_reach(i); } /* - trans site from cartesian to polar - mathematical model 2/2 ---------------------------------------------------------------------------*/ void cartesian_to_polar(volatile float &alpha, volatile float &beta, volatile float &gamma, volatile float x, volatile float y, volatile float z) { //calculate w-z degree float v, w; w = (x >= 0 ? 1 : -1) * (sqrt(pow(x, 2) + pow(y, 2)));

v = w - length_c;

alpha = atan2(z, v) + acos((pow(length_a, 2) - pow(length_b, 2) + pow(v, 2) + pow(z, 2)) / 2 / length_a / sqrt(pow(v, 2) + pow(z, 2)));

beta = acos((pow(length_a, 2) + pow(length_b, 2) - pow(v, 2) - pow(z, 2)) / 2 / length_a / length_b);

//calculate x-y-z degree

gamma = (w >= 0) ? atan2(y, x) : atan2(-y, -x);

//trans degree pi->180

alpha = alpha / pi * 180;

beta = beta / pi * 180;

gamma = gamma / pi * 180;

}

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