コード例 #1
0
ファイル: prog12.c プロジェクト: hakrlife/manish
float squareroot(float x)
{
	const float epsilon= .00001;
	float guess = 1.0;

	while(absolutevalue (guess * guess - x) >= epsilon)
		guess = ( x / guess + guess ) / 2.0;

	return guess;
}
コード例 #2
0
ファイル: chap8_prgm7.c プロジェクト: orcababu/babuji
int main(void)

{

	
	float f1=-23.5,f2=65.0,f3=-8.0,result;
	int i1=-150;
		
	result=absolutevalue(f1);	
	printf("Result = %.2f\n",result);
	printf("f1=%.2f\n",f1);
	
	result=absolutevalue(f2)+absolutevalue(f3);
	printf("Result =%.2f\n",result);
	
	result=absolutevalue((float)i1);
	printf("Result = %.2f\n",result);
	
	result=absolutevalue(i1);
	printf("Result = %.2f\n",result);
	
	printf("%.2f\n",absolutevalue(-6.0)/4);
	
	return 0;

	
	
}
コード例 #3
0
bool EntropyDrive::DriveRobotTrig(float MoveValue, float RotateValue) {

    float LeftMotors = 0;
    float RightMotors = 0;
    float OutsideWheels = 0;
    float InsideWheels = 0;
    float Hypot = 0;
    float AbsMoveValue = 0;
    float AbsRotateValue = 0;

    float CompMoveValuePlus=0.99;
    float CompMoveValueMinus=0.60;
    float CompRotateValuePlus=0.99;
    float CompRotateValueMinus=0.99;

    //Normalize Joystick inputs
    if (MoveValue >= 0.0)
    {
        MoveValue=MoveValue/CompMoveValuePlus;
    }
    else
    {
        MoveValue=MoveValue/CompMoveValueMinus;
    }

    if (RotateValue>=0.0)
    {
        RotateValue=RotateValue/CompRotateValuePlus;
    }
    else
    {
        RotateValue=RotateValue/CompRotateValueMinus;
    }


    MoveValue=Limit(MoveValue);
    RotateValue=Limit(RotateValue);
    AbsMoveValue=absolutevalue(MoveValue);
    AbsRotateValue= absolutevalue(RotateValue);


    //Theta = atanf(AbsMoveValue/(AbsRotateValue+0.000001));
    //Theta = asinf(0.2);
    Hypot = sqrt(AbsMoveValue*AbsMoveValue+AbsRotateValue*AbsRotateValue);


    OutsideWheels = AbsMoveValue*(AbsMoveValue/Hypot);
    InsideWheels = AbsMoveValue*( 1- (AbsRotateValue/Hypot));

    //Scale Motor inputs

    if (RotateValue<=0.0)
    {
        LeftMotors = InsideWheels * MoveValue/AbsMoveValue;
        RightMotors = OutsideWheels * MoveValue/AbsMoveValue;
    }
    else
    {
        LeftMotors = OutsideWheels *  MoveValue/AbsMoveValue;
        RightMotors = InsideWheels * MoveValue/AbsMoveValue;
    }



    //Command motors
    wpiDrive->SetLeftRightMotorOutputs( -1*LeftMotors,-1*RightMotors );

    return true;
}