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Unread 22-03-2005, 20:40
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Exclamation Re: Holomonic Drive mathmatics discussion

Sorry seanwitte. All that went right over my head.

Crud. The 's are back... DARN TANGENTS!!! Sin and cos are so easy to work with, so why am I getting numbers over 20,000?! Here are some various permutations of equations I have been trying... assuming that this is for inputs of robot_y > 127 and robot_x < 127.

tan(45-tan^(-1)((robot_y-127)/(robot_x-127)))*(robot_y-127)+127=FL-BR_drive

tan(90-...
tan(45-tan^(-1)((robot_y-127)/(254-robot_x)))...
tan(tan^(-1)((robot_y-127)/(robot_x-127))+45)...

You get the idea. I am soooo very lost. Maybe I should do some converting to sin's and cos's that I seem to do OK with... Luckily though, once I solve one non-aligned quadrant all the others are easy. I think I may be having some problems with tan not liking the parameters I have, but how would I know? Tan is the crazy one here, not me... right?! I may also have the problem of being the only one on my team who wants to keep going 'till at least the end of the school year, but that's for another thread... Anyhoo.

Could someone out there tell me if I got the tail anywhere near the donkey with these equations?