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Lab Help Please?

BigNoah (2)
Hello, I am trying to program a simulation for a plasma cutter to cut circles but the results are not returning anything for the theta.
Could someone be so kind to help, I seem stuck. I need to find time over 5 points over 2 seconds with a theta 1 and theta 2 over the 5 points.
My results are not printing out, can anyone assist?
Thank You


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   *   Function:  Calculate the joint angles needed to produce the circle
 *
 *********************************************************************************************
 *
 *   Variables  |  function                |  units
 *  
 *    theta_1   | joint angle 1            |  radians
 *    theta_2   | joint angle 2            |  radians
 *     x        | x location               |  inches
 *     y        | y location               |  inches
 *    num_points| number of points to convert| 
 *    t         | time                     | seconds
 *    i         | loop variable            |
 *********************************************************************************************/


/* Header Files */
#include <stdio.h>
#include <math.h>

#define A1     20.0
#define A2     10.0
#define X_C    20.0
#define Y_C    0.0
#define PI     3.14159265



/*prototypes*/
double r, t;
double get_x();
double get_y();
double get_theta2( double x, double y);
double get_theta1( double x, double y, double theta_2);
void q_for_quit();


 /*Start of main function*/
 int main(void)
 {
    /* declarations: */
    int num_points, i;
	

    printf("                 PLASMA CUTTER\n");
    printf("------------------------------------------------------------\n\n");

	printf("Please enter the radius of the circle [in]: \n");
	scanf("%f", &r);
	if( r < 5 && r > 10)
		printf("Please enter a valid number for the radius 

	printf("Number of points needed on the circle: \n");
	scanf("%d", &num_points);


    printf("The data file contains %d records.\n", num_points);

    printf("                         RESULTS\n");
    printf("------------------------------------------------------------\n\n");

    printf("     LINK LENGTH 1[in]: %5.1f\n", A1); 
    printf("     LINK LENGTH 2[in]: %5.1f\n", A2);


    /*Print the results*/
    printf("\n");
    printf("          CIRCLE CUTTING PROGRAM\n");
    printf("  time[sec]    theta_1[rad]    theta_2[rad]\n");
	printf("%lf", &theta1);

    /*Calculate the time step*/
    for( i = 0; i< num_points; i++)

 }

void q_for_quit()
{
	char g;

	/*This keeps the window open*/
    printf("\n\nPress enter to q to quit.\n");
    do{ 
       g = getchar();
    }while( g != 'q' );

	return;
}

/*Function to find x*/
double get_x()
{
	double x;
	x = r*cos(t*PI)+ X_C;
	return x;
}

/*Function to find y*/
double get_y()
{
	double y;
	y = r*sin(t*PI)+ Y_C;
	return y;
}

/*Function to calculate the intermediate value D*/
double get_D( double x, double y)
{
   double D;
   D = (x*x + y*y -A2*A2 - A1*A1)/(2.0 * A1 * A2);
   return D;
}

/*Based on the given values of x and y calculate the angle of joint 2*/
double get_theta2(double x, double y)
{
   double D;
   D = get_D(x, y);
   return atan2(sqrt(1-D*D), D);
}

/*given the values of x, y, and z calculate and return the value of theta 2*/
double get_theta1( double x, double y, double theta_2)
{
   return atan2(y,x) - atan2(A2*sin(theta_2), A1+A2*cos(theta_2));
}
Last edited on
closed account (48T7M4Gy)
printf("%lf", &theta1); is that an 'L', why only theta1 and why & - 'address of' ???
Last edited on
BigNoah (2)
Thank you for replying to my question, but I think I've got it solved.

Again: Thanks anyways.
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