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Jan 28, 2000, 12:23am

'sup yall. this is the source (highlights) to my circle bot;
circles in a square world proved to be an easier task
than I first expected, but to save y'all a little grey matter if
ya come across it.....btw, all my values are hardcoded, but
a generic "circleBot" could be easily adapted from this..

1. prototypes......

void legwork(int x_axis, double z_axis, int yaw);
double the_math(int x);

2. source........

while (1)

while (x_axis < 17000) { //first quarter circle
legwork(x_axis += 100, the_math(x_axis), yaw += 5);
}
while (x_axis > 0) { //second quarter circle
legwork(x_axis -= 100, -(the_math(x_axis)), yaw +=5);
}
while (x_axis > -17000) { //third quarter circle
legwork(x_axis -= 100, -(the_math(x_axis)), yaw += 5);
}
yaw = 0; //reset to 0 degrees
while (x_axis < 0) { //fourth quarter circle
legwork(x_axis += 100, the_math(x_axis), yaw += 5);
}
}
}

void legwork(int x_axis, double z_axis, int yaw)
{
aw_wait(1000);
aw_int_set(AW_MY_YAW, yaw);
aw_int_set(AW_MY_X, x_axis);
aw_int_set(AW_MY_Z, (int) z_axis);
if (aw_state_change())
printf("aw_state_changed failed");
}

double the_math(int x) //returns the z coordinate
{
return sqrt((-(x * x)) + 255000000); // x^2 + y^2 = sqrt(r)
}

..........brez.

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