Created
October 22, 2018 21:20
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Plinkquito turn calculations when going to a point
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| <!DOCTYPE html> | |
| <html> | |
| <head> | |
| <title></title> | |
| </head> | |
| <body> | |
| <script> | |
| // This is the x and y of the next point you're moving to | |
| var nextPoint_x = 33; | |
| var nextPoint_y = 72; | |
| // Measure the x and y point of the Plinkquito chassis when totally unspooled | |
| var startingPoint_x = 0; | |
| var startingPoint_y = 0; | |
| // Measure the x and y positions of your motors | |
| var leftMotor_x = -200; | |
| var leftMotor_y = 150; | |
| var rightMotor_x = 200; | |
| var rightMotor_y = 150; | |
| // Measure the string width and the motor diameter | |
| var stringWidth = .032; | |
| var motorDiameter = 2.5; | |
| var motorCircumference = Math.PI*motorDiameter; | |
| // Set these percentages to test different proportions of error for spiraling and doubling | |
| var percentSpiraling = .5; | |
| var percentDoubling = .5; | |
| // General purpose function to calculate the distance between two points with coordinates (x1, y1) and (x2, y2) | |
| function calculateDistance (x1, y1, x2, y2) { | |
| var deltaX = x2 - x1; | |
| var deltaY = y2 - y1; | |
| var distance = Math.sqrt(Math.pow(deltaX, 2)+Math.pow(deltaY, 2)); | |
| return distance; | |
| } | |
| // Calculate initial, unspooled length from right motor | |
| var initRightLength = calculateDistance(rightMotor_x, rightMotor_y, startingPoint_x, startingPoint_y); | |
| // Calculate initial, unspooled length from left motor | |
| var initLeftLength = calculateDistance(leftMotor_x, leftMotor_y, startingPoint_x, startingPoint_y); | |
| // General purpose funtion to calculate turns needed to get to get to a certain string length | |
| function calculateTurns (initLength, currLength) { | |
| var spooledLength = initLength - currLength; | |
| var numDoublingTurns = (Math.sqrt(Math.PI*Math.pow(motorDiameter, 2) + 2*Math.PI*motorDiameter*stringWidth + 4*spooledLength*stringWidth + Math.PI*Math.pow(stringWidth, 2)) - Math.sqrt(Math.PI)*motorDiameter - Math.sqrt(Math.PI)*stringWidth)/(2*Math.sqrt(Math.PI)*stringWidth); | |
| var numSpiralingTurns = spooledLength / Math.sqrt(Math.pow((Math.PI*motorDiameter), 2) + Math.pow(stringWidth, 2)); | |
| var turns = percentDoubling*numDoublingTurns + percentSpiraling*numSpiralingTurns; | |
| console.log("Turns is "+turns); | |
| return turns; | |
| } | |
| // Calculate left motor turns to get to next point | |
| calculateTurns (initLeftLength, calculateDistance(leftMotor_x, leftMotor_y, nextPoint_x, nextPoint_y)); | |
| // Calculate right motor turns to get to next point | |
| calculateTurns (initRightLength, calculateDistance(rightMotor_x, rightMotor_y, nextPoint_x, nextPoint_y)); | |
| </script> | |
| </body> | |
| </html> |
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