40 lines
1 KiB
C++
40 lines
1 KiB
C++
#include "math.h"
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//rollH atan((22.5 - 18.5) / 236) ~0.97°
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//rollV ~1°
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double degToRad(double deg) {
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return deg * M_PI / 180.0;
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}
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double radToDeg(double rad) {
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return rad * 180.0 / M_PI;
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}
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void angleToStep(long &stepX, long &stepY, double angleX, double angleY) {
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//TODO remove magic numbers
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double stepRatioX = M_PI / ((51.2 / 15.0) * (100.0 * 64.0));
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double stepRatioY = M_PI / ((48.0 / 15.0) * (100.0 * 64.0));
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stepX = angleX / stepRatioX;
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stepY = angleY / stepRatioY;
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}
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void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY, double x, double y, double z) {
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//TODO remove magic numbers
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double distance = 166.0; //turret to screen
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double offsetY = 21.0; //laser to stand
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double offsetX = 0.0; //unused
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x = -x; //natural axis direction
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double dX = x + offsetX;
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double dY = y + offsetY;
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double dZ = z + distance;
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double rho = sqrt(pow(dX, 2.0) + pow(dY, 2.0) + pow(dZ, 2.0));
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double angleY = M_PI / 2.0 - acos(dY / rho);
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double angleX = atan2(dX, dZ);
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angleToStep(stepX, stepY, angleX, angleY);
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}
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