www.gusucode.com > Arduino_Engineering_Kit_Project_Files工具箱matlab程序 > Arduino_Engineering_Kit_Project_Files/DrawingRobot/Solutions/xyToCounts.m
function counts = xyToCounts(xy,Z_i,Base) % Copyright 2018 The MathWorks, Inc. % Define constants r_spool = 0.0045; countsPerRevolution = 1200; countsPerRadian = countsPerRevolution/(2*pi); % Convert x and y to Z1 and Z2 x = xy(:,1); y = xy(:,2); Z(:,1) = sqrt(x.^2 + y.^2); Z(:,2) = sqrt((Base-x).^2 + y.^2); % Subtract initial Z to get change in Z dZ = Z - Z_i; % Convert change in Z to change in string length dStringLength = 2*dZ; % Compute change in string length to angle phi = dStringLength/r_spool; % Convert angle to counts counts = phi*countsPerRadian;