I will here only speak on the basis of stepper_oneRevolution. Basically MotorKnob and stepper_oneRevolution which are both predefined in the Arduino IDE. I tested it with different prefabricated examples so problems wouldn't come from my coding. But the stepper motor is still a mastermind.īasically I have two problems: It doesn't want to turn anti-clock wise and it has apparently many more steps than indicated!!! I got through some of the cool things inside. I just bought a kit to start with Arduino. If (null = google || null = google.maps || null = 'm new and it's my first topic. check that the GMaps API was already loaded Test (See discussion with public static bool IsClockwise(IList vertices)Ĭonsole.WriteLine(IsClockwise(new true if the path is clockwise false if the path is counter-clockwise This saves not only the modulo operation % but also an array indexing. Optimized version according to comment: double sum = 0.0 % is the modulo or remainder operator performing the modulo operation which ( according to Wikipedia) finds the remainder after division of one number by another. Let's assume that we have a Vector type having X and Y properties of type double. Here is a simple C# implementation of the algorithm based on answer. If final sum is positive, you went clockwise, negative, counterclockwise. All we will care about is its magnitude, and of course its sign (positive or negative)!ĭo this for each of the other 4 points around the closed path, and add up the values from this calculation at each vertex. This is a measure of whether the next segment after the vertex has bent to the left or right, and by how much. So, to get back to just a measure of the angle you need to divide this value, ( -16), by the product of the magnitudes of the two vectors. The magnitude of this value ( -16), is a measure of the sine of the angle between the 2 original vectors, multiplied by the product of the magnitudes of the 2 vectors.Īctually, another formula for its value isĪ X B (Cross Product) = |A| * |B| * sin(AB). The formula for calculating the magnitude of the k or z-axis component is Given that all cross-products produce a vector perpendicular to the plane of two vectors being multiplied, the determinant of the matrix above only has a k, (or z-axis) component. The third (zero)-valued coordinate is there because the cross product concept is a 3-D construct, and so we extend these 2-D vectors into 3-D in order to apply the cross-product: i j k ![]() ![]() These two edges are themselves vectors, whose x and y coordinates can be determined by subtracting the coordinates of their start and end points:ĮdgeE = point0 - point4 = (1, 0) - (5, 0) = (-4, 0) andĮdgeA = point1 - point0 = (6, 4) - (1, 0) = (5, 4) andĪnd the cross product of these two adjoining edges is calculated using the determinant of the following matrix, which is constructed by putting the coordinates of the two vectors below the symbols representing the three coordinate axis ( i, j, & k). So, for each vertex (point) of the polygon, calculate the cross-product magnitude of the two adjoining edges: Using your data:ĮdgeA is the segment from point0 to point1 and ![]() The magnitude of this vector is proportional to the sine of the angle between the two original edges, so it reaches a maximum when they are perpendicular, and tapers off to disappear when the edges are collinear (parallel). Then the cross product of two successive edges is a vector in the z-direction, (positive z-direction if the second segment is clockwise, minus z-direction if it's counter-clockwise). Imagine that each edge of your polygon is a vector in the x-y plane of a three-dimensional (3-D) xyz space. The cross product measures the degree of perpendicular-ness of two vectors.
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