Post by Kyle Gagner on Nov 23, 2011 1:28:32 GMT -5
RobotC does not have an atan2 function, so here it is:
float atan2(float y,float x)
{
if (x>0)
{
return atan(y/x);
}
else if ((y>=0)*(x<0))
{
return (atan(y/x)+pi);
}
else if ((y<0)*(x<0))
{
return (atan(y/x)-pi);
}
else if ((y>0)*(x==0))
{
return (pi/2);
}
else if ((y<0)*(x==0))
{
return (-pi/2);
}
else
{
return 0; // supposed to be undefined
}
}