Imbus/grbl-imbus
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lots and lots of bugfixes after running on reals hardware for the first time

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This commit is contained in:
Simen Svale Skogsrud 2009-02-03 09:56:45 +01:00
parent 9799955555
commit 50a9f78088
19 changed files with 827 additions and 368 deletions
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6
geometry.c
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@ -20,7 +20,8 @@
#include <math.h>
// Find the angle from the positive y axis to the given point with respect to origo.
// Find the angle in radians of deviance from the positive y axis. negative angles to the left of y-axis,
// positive to the right.
double theta(double x, double y)
{
double theta = atan(x/fabs(y));
@ -29,10 +30,9 @@ double theta(double x, double y)
} else {
if (theta>0)
{
return(theta-M_PI);
return(M_PI-theta);
} else {
return(-M_PI-theta);
}
}
}