From bf3fb9487529dac766a7f8b10752610feba8d202 Mon Sep 17 00:00:00 2001
From: Asrumochan Parida <55292217+Asrumochan@users.noreply.github.com>
Date: Thu, 10 Oct 2019 19:34:42 +0530
Subject: [PATCH 01/11] Delete shorter_path.ino

---
 Ashrumachan/shorter_path.ino | 129 -----------------------------------
 1 file changed, 129 deletions(-)
 delete mode 100644 Ashrumachan/shorter_path.ino

diff --git a/Ashrumachan/shorter_path.ino b/Ashrumachan/shorter_path.ino
deleted file mode 100644
index 129b61e..0000000
--- a/Ashrumachan/shorter_path.ino
+++ /dev/null
@@ -1,129 +0,0 @@
-#define a 2
-#define b 4
-#define a1 3
-#define b1 5
-
-int d_1, d_2, d_3, d_4;
-int s1, s2, s3, s4;
-int count = 0, sf = 1, w = 0;
-int x_val, y_val, x_motion, y_motion;
-volatile int c = 0;
-volatile int c1 = 0;
-int x, y, arr[8][2] = {{0, 0}, {10, 0}, {10, 8}, {12, 8}, {12, 12}, {10, 12}, {10, 20}, {20, 20}};
-void motion(int x_val, int y_val);
-void setup() {
-  pinMode(a, INPUT);
-  digitalWrite(a, HIGH);
-  pinMode(b, INPUT);
-  digitalWrite(b, HIGH);
-
-  pinMode(a1, INPUT);
-  digitalWrite(a1, HIGH);
-  pinMode(b1, INPUT);
-  digitalWrite(b1, HIGH);
-
-  pinMode(23, OUTPUT);
-  pinMode(25, OUTPUT);
-  pinMode(27, OUTPUT);
-  pinMode(29, OUTPUT);
-  pinMode(6, OUTPUT);
-  pinMode(7, OUTPUT);
-  pinMode(8, OUTPUT);
-  pinMode(9, OUTPUT);
-
-
-  attachInterrupt(digitalPinToInterrupt(2), func, RISING);
-  attachInterrupt(digitalPinToInterrupt(3), func1, RISING);
-
-  Serial.begin(115200);
-}
-
-void loop()
-{
-  Serial.print(c);
-  Serial.print("   ");
-  Serial.print(c1);
-  Serial.println("   ");
-  x = c / 100;
-  y = c1 / 100;
-
-  if (count % 2 == 0)
-  {
-    if (x == 12)
-    {
-      do  {
-        motion (-200, 0);
-      }
-      while (x != arr[count][0]);
-
-    }
-    else {
-      do  {
-        motion (200, 0);
-      }
-      while (x != arr[count][0]);
-    }
-    count++;
-    }
-  else
-  {
-    do  {
-      motion (0, 200);
-    }
-    while (y != arr[count][1]);
-    count++;
-  }
-}
-
-
-void func() {
-
-  int  s = digitalRead(a);
-  int  d = digitalRead(b);
-  if (d != s) {
-    c++ ;
-  }
-
-  else {
-    c-- ;
-  }
-
-}
-
-
-void func1() {
-
-  int  s1 = digitalRead(a1);
-  int  d1 = digitalRead(b1);
-  if (d1 != s1) {
-    c1++ ;
-  }
-
-  else {
-    c1-- ;
-  }
-
-}
-void motion(int x_val, int y_val)
-{
-  x_motion = x_val;
-  y_motion = y_val;
-
-  sf = 1;
-  s1 = sf * (0.1768 * x + 0.1768 * y + 0.25 * w);
-  s2 = sf * (0.1768 * x + 0.1768 * y + 0.25 * w);
-  s3 = sf * (-0.1768 * x - 0.1768 * y + 0.25 * w);
-  s4 = sf * (-0.1768 * x - 0.1768 * y + 0.25 * w);
-  d_1 = (s1 > 0 ? 1 : 0);
-  d_2 = (s2 > 0 ? 1 : 0);
-  d_3 = (s3 > 0 ? 1 : 0);
-  d_4 = (s4 > 0 ? 1 : 0);
-  digitalWrite(6, d_1);
-  digitalWrite(7, d_2);
-  digitalWrite(8, d_3);
-  digitalWrite(9, d_4);
-  analogWrite(23, s1);
-  analogWrite(25, s2);
-  analogWrite(27, s3);
-  analogWrite(29, s4);
-}

From 604f84d6b2412510e363ff4de3a7fa1a8d03fc57 Mon Sep 17 00:00:00 2001
From: Asrumochan Parida <55292217+Asrumochan@users.noreply.github.com>
Date: Thu, 10 Oct 2019 19:34:59 +0530
Subject: [PATCH 02/11] Delete task2.ino

---
 Ashrumachan/task2.ino | 91 -------------------------------------------
 1 file changed, 91 deletions(-)
 delete mode 100644 Ashrumachan/task2.ino

diff --git a/Ashrumachan/task2.ino b/Ashrumachan/task2.ino
deleted file mode 100644
index cc215cd..0000000
--- a/Ashrumachan/task2.ino
+++ /dev/null
@@ -1,91 +0,0 @@
-#define enc_11 2
-#define enc_12 4
-#define enc_21 3
-#define enc_22 5
-
-volatile int enc1_val = 0;
-volatile int enc2_val = 0;
-int x_counter, x_motion, y_counter, y_motion, X_motion, Y_motion, x_val, y_val, arr[2][2] = {{0, 0}, {10, 10}};
-int d_1, d_2, d_3, d_4;
-int s1, s2, s3, s4;
-int count = 0, sf = 1, w = 0;
-void setup() {
-  pinMode(enc_11, INPUT);
-  digitalWrite(enc_11, HIGH);
-  pinMode(enc_12, INPUT);
-  digitalWrite(enc_12, HIGH);
-
-  pinMode(enc_21, INPUT);
-  digitalWrite(enc_21, HIGH);
-  pinMode(enc_22, INPUT);
-  digitalWrite(enc_22, HIGH);
-
-  attachInterrupt(digitalPinToInterrupt(2), func, RISING);
-  attachInterrupt(digitalPinToInterrupt(3), func1, RISING);
-
-  Serial.begin(115200);
-}
-
-void loop()
-{
-  Serial.print(enc1_val);
-  Serial.print("   ");
-  Serial.print(enc2_val);
-  Serial.print("   ");
-  x_counter = enc1_val / 100;
-  y_counter = enc2_val / 100;
-
-  x_val = arr[1][0] - arr[0][0];
-  y_val = arr[1][1] - arr[0][1];
-  x_motion = map(x_motion, -x_val, x_val, 0, 255);
-  y_motion = map(y_motion, -y_val, y_val, 0, 255);
-  motion(x_motion, y_motion);
-
-}
-
-
-void func() {
-  if (digitalRead(enc_12) != digitalRead(enc_11)) {
-    enc1_val++ ;
-  }
-
-  else {
-    enc1_val-- ;
-  }
-
-}
-
-
-void func1() {
-  if (digitalRead(enc_22) != digitalRead(enc_21)) {
-    enc2_val++ ;
-  }
-
-  else {
-    enc2_val-- ;
-  }
-
-}
-void motion(int x_motion, int y_motion)
-{
-  X_motion = x_motion ;
-  Y_motion = y_motion ;
-
-  sf = 1;
-  s1 = sf * (0.1768 * X_motion + 0.1768 * Y_motion + 0.25 * w);
-  s2 = sf * (0.1768 * X_motion + 0.1768 * Y_motion + 0.25 * w);
-  s3 = sf * (-0.1768 * X_motion - 0.1768 *  Y_motion + 0.25 * w);
-  s4 = sf * (-0.1768 * X_motion - 0.1768 * Y_motion + 0.25 * w);
-  d_1 = (s1 > 0 ? 1 : 0);
-  d_2 = (s2 > 0 ? 1 : 0);
-  d_3 = (s3 > 0 ? 1 : 0);
-  d_4 = (s4 > 0 ? 1 : 0);
-  digitalWrite(6, d_1);
-  digitalWrite(7, d_2);
-  digitalWrite(8, d_3);
-  digitalWrite(9, d_4);
-  analogWrite(23, s1);
-  analogWrite(25, s2);
-  analogWrite(27, s3);
-  analogWrite(29, s4);
-}

From c0ef23bad029d7ed7d996902f9eb4456f9120430 Mon Sep 17 00:00:00 2001
From: Asrumochan Parida <55292217+Asrumochan@users.noreply.github.com>
Date: Thu, 10 Oct 2019 19:37:09 +0530
Subject: [PATCH 03/11] Add files via upload

---
 Ashrumachan/task2.ino | 89 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 89 insertions(+)
 create mode 100644 Ashrumachan/task2.ino

diff --git a/Ashrumachan/task2.ino b/Ashrumachan/task2.ino
new file mode 100644
index 0000000..5c809de
--- /dev/null
+++ b/Ashrumachan/task2.ino
@@ -0,0 +1,89 @@
+#define enc_11 2
+#define enc_12 4
+#define enc_21 3
+#define enc_22 5
+
+volatile int enc1_val = 0;
+volatile int enc2_val = 0;
+int x_counter, x_motion, y_counter, y_motion, X_motion, Y_motion, x_val, y_val, arr[2][2] = {{0, 0}, {10, 10}};
+int d_1, d_2, d_3, d_4;
+int s1, s2, s3, s4;
+int count = 0, sf = 1, w = 0,angle;
+void setup() {
+  pinMode(enc_11, INPUT);
+  digitalWrite(enc_11, HIGH);
+  pinMode(enc_12, INPUT);
+  digitalWrite(enc_12, HIGH);
+
+  pinMode(enc_21, INPUT);
+  digitalWrite(enc_21, HIGH);
+  pinMode(enc_22, INPUT);
+  digitalWrite(enc_22, HIGH);
+
+  attachInterrupt(digitalPinToInterrupt(2), func, RISING);
+  attachInterrupt(digitalPinToInterrupt(3), func1, RISING);
+
+  Serial.begin(115200);
+}
+
+void loop()
+{
+  x_counter = enc1_val / 100;
+  y_counter = enc2_val / 100;
+  while (x_counter != arr[1][0] && y_counter != arr[1][1])
+  {
+    x_val = arr[1][0] - x_counter;
+    y_val = arr[1][1] - y_counter;
+    angle = atan2(y_val, x_val);
+    x_motion = map((90 - angle), -90, 90, -255, 255);
+    y_motion = map(angle, -90, 90, -255, 255);
+    motion(x_motion, y_motion);
+  }
+}
+
+
+void func() {
+  if (digitalRead(enc_12) != digitalRead(enc_11)) {
+    enc1_val++ ;
+  }
+
+  else {
+    enc1_val-- ;
+  }
+
+}
+
+
+void func1() {
+  if (digitalRead(enc_22) != digitalRead(enc_21)) {
+    enc2_val++ ;
+  }
+
+  else {
+    enc2_val-- ;
+  }
+
+}
+void motion(int x_motion, int y_motion)
+{
+  X_motion = x_motion ;
+  Y_motion = y_motion ;
+
+  sf = 1;
+  s1 = sf * (0.1768 * X_motion + 0.1768 * Y_motion + 0.25 * w);
+  s2 = sf * (0.1768 * X_motion + 0.1768 * Y_motion + 0.25 * w);
+  s3 = sf * (-0.1768 * X_motion - 0.1768 *  Y_motion + 0.25 * w);
+  s4 = sf * (-0.1768 * X_motion - 0.1768 * Y_motion + 0.25 * w);
+  d_1 = (s1 > 0 ? 1 : 0);
+  d_2 = (s2 > 0 ? 1 : 0);
+  d_3 = (s3 > 0 ? 1 : 0);
+  d_4 = (s4 > 0 ? 1 : 0);
+  digitalWrite(6, d_1);
+  digitalWrite(7, d_2);
+  digitalWrite(8, d_3);
+  digitalWrite(9, d_4);
+  analogWrite(23, s1);
+  analogWrite(25, s2);
+  analogWrite(27, s3);
+  analogWrite(29, s4);
+}

From 917f676139eb2c7c7160721d6975dc54271690bc Mon Sep 17 00:00:00 2001
From: Asrumochan Parida <55292217+Asrumochan@users.noreply.github.com>
Date: Thu, 10 Oct 2019 19:58:56 +0530
Subject: [PATCH 04/11] Add files via upload

---
 Ashrumachan/shorter_path.ino | 112 +++++++++++++++++++++++++++++++++++
 1 file changed, 112 insertions(+)
 create mode 100644 Ashrumachan/shorter_path.ino

diff --git a/Ashrumachan/shorter_path.ino b/Ashrumachan/shorter_path.ino
new file mode 100644
index 0000000..49718a5
--- /dev/null
+++ b/Ashrumachan/shorter_path.ino
@@ -0,0 +1,112 @@
+#define a 2
+#define b 4
+#define a1 3
+#define b1 5
+
+int d_1, d_2, d_3, d_4;
+int s1, s2, s3, s4;
+int count = 0, sf = 1, w = 0,angle;
+int x_val, y_val, x_motion, y_motion,x,y;
+volatile int c = 0;
+volatile int c1 = 0;
+int x_counter, y_counter, arr[4][2] = {{0, 0}, {10, 8}, {12, 8}, {20, 20}};
+void motion(int x_val, int y_val);
+void setup() {
+  pinMode(a, INPUT);
+  digitalWrite(a, HIGH);
+  pinMode(b, INPUT);
+  digitalWrite(b, HIGH);
+
+  pinMode(a1, INPUT);
+  digitalWrite(a1, HIGH);
+  pinMode(b1, INPUT);
+  digitalWrite(b1, HIGH);
+
+  pinMode(23, OUTPUT);
+  pinMode(25, OUTPUT);
+  pinMode(27, OUTPUT);
+  pinMode(29, OUTPUT);
+  pinMode(6, OUTPUT);
+  pinMode(7, OUTPUT);
+  pinMode(8, OUTPUT);
+  pinMode(9, OUTPUT);
+
+
+  attachInterrupt(digitalPinToInterrupt(2), func, RISING);
+  attachInterrupt(digitalPinToInterrupt(3), func1, RISING);
+
+  Serial.begin(115200);
+}
+
+void loop()
+{
+  x_counter = c / 100;
+  y_counter = c1 / 100;
+
+  for (int i = 1; i <= 3; i++)
+  {
+    while (x_counter != arr[i][0] && y_counter != arr[i][1])
+    {
+      x_val = arr[i][0] - x_counter;
+      y_val = arr[i][1] - y_counter;
+      angle = atan2(y_val, x_val);
+      x_motion = map((90 - angle), -90, 90, -255, 255);
+      y_motion = map(angle, -90, 90, -255, 255);
+      motion(x_motion, y_motion);
+    }
+  }
+}
+
+
+
+void func() {
+
+  int  s = digitalRead(a);
+  int  d = digitalRead(b);
+  if (d != s) {
+    c++ ;
+  }
+
+  else {
+    c-- ;
+  }
+
+}
+
+
+void func1() {
+
+  int  s1 = digitalRead(a1);
+  int  d1 = digitalRead(b1);
+  if (d1 != s1) {
+    c1++ ;
+  }
+
+  else {
+    c1-- ;
+  }
+
+}
+void motion(int x_val, int y_val)
+{
+  x_motion = x_val;
+  y_motion = y_val;
+
+  sf = 1;
+  s1 = sf * (0.1768 * x + 0.1768 * y + 0.25 * w);
+  s2 = sf * (0.1768 * x + 0.1768 * y + 0.25 * w);
+  s3 = sf * (-0.1768 * x - 0.1768 * y + 0.25 * w);
+  s4 = sf * (-0.1768 * x - 0.1768 * y + 0.25 * w);
+  d_1 = (s1 > 0 ? 1 : 0);
+  d_2 = (s2 > 0 ? 1 : 0);
+  d_3 = (s3 > 0 ? 1 : 0);
+  d_4 = (s4 > 0 ? 1 : 0);
+  digitalWrite(6, d_1);
+  digitalWrite(7, d_2);
+  digitalWrite(8, d_3);
+  digitalWrite(9, d_4);
+  analogWrite(23, s1);
+  analogWrite(25, s2);
+  analogWrite(27, s3);
+  analogWrite(29, s4);
+}

From 8bb2e2ed6befb971131aed84ff37f25332880390 Mon Sep 17 00:00:00 2001
From: Asrumochan Parida <55292217+Asrumochan@users.noreply.github.com>
Date: Thu, 10 Oct 2019 21:50:24 +0530
Subject: [PATCH 05/11] Update task2.ino

---
 Ashrumachan/task2.ino | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/Ashrumachan/task2.ino b/Ashrumachan/task2.ino
index 5c809de..d25294b 100644
--- a/Ashrumachan/task2.ino
+++ b/Ashrumachan/task2.ino
@@ -66,14 +66,13 @@ void func1() {
 }
 void motion(int x_motion, int y_motion)
 {
-  X_motion = x_motion ;
-  Y_motion = y_motion ;
+
 
   sf = 1;
-  s1 = sf * (0.1768 * X_motion + 0.1768 * Y_motion + 0.25 * w);
-  s2 = sf * (0.1768 * X_motion + 0.1768 * Y_motion + 0.25 * w);
-  s3 = sf * (-0.1768 * X_motion - 0.1768 *  Y_motion + 0.25 * w);
-  s4 = sf * (-0.1768 * X_motion - 0.1768 * Y_motion + 0.25 * w);
+  s1 = sf * (0.1768 * x_motion + 0.1768 * y_motion + 0.25 * w);
+  s2 = sf * (0.1768 * x_motion + 0.1768 * y_motion + 0.25 * w);
+  s3 = sf * (-0.1768 * x_motion - 0.1768 *  y_motion + 0.25 * w);
+  s4 = sf * (-0.1768 * x_motion - 0.1768 * y_motion + 0.25 * w);
   d_1 = (s1 > 0 ? 1 : 0);
   d_2 = (s2 > 0 ? 1 : 0);
   d_3 = (s3 > 0 ? 1 : 0);

From 7ba9cc3bf06243ebd28de4cb4c653e980c991308 Mon Sep 17 00:00:00 2001
From: Asrumochan Parida <55292217+Asrumochan@users.noreply.github.com>
Date: Thu, 10 Oct 2019 21:54:13 +0530
Subject: [PATCH 06/11] Update task2.ino

---
 Ashrumachan/task2.ino | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/Ashrumachan/task2.ino b/Ashrumachan/task2.ino
index d25294b..16c4848 100644
--- a/Ashrumachan/task2.ino
+++ b/Ashrumachan/task2.ino
@@ -35,8 +35,16 @@ void loop()
     x_val = arr[1][0] - x_counter;
     y_val = arr[1][1] - y_counter;
     angle = atan2(y_val, x_val);
+    
+    if(angle==45){
+    x_motion =255;
+    y_motion =255;
+    }
+    else 
+    {
     x_motion = map((90 - angle), -90, 90, -255, 255);
     y_motion = map(angle, -90, 90, -255, 255);
+    }
     motion(x_motion, y_motion);
   }
 }

From 3244b5c95c68e1a32a5f1b66879303b0b365cea9 Mon Sep 17 00:00:00 2001
From: Asrumochan Parida <55292217+Asrumochan@users.noreply.github.com>
Date: Thu, 10 Oct 2019 22:02:53 +0530
Subject: [PATCH 07/11] Update shorter_path.ino

---
 Ashrumachan/shorter_path.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Ashrumachan/shorter_path.ino b/Ashrumachan/shorter_path.ino
index 49718a5..19b0239 100644
--- a/Ashrumachan/shorter_path.ino
+++ b/Ashrumachan/shorter_path.ino
@@ -49,7 +49,7 @@ void loop()
     {
       x_val = arr[i][0] - x_counter;
       y_val = arr[i][1] - y_counter;
-      angle = atan2(y_val, x_val);
+      angle = atan(y_val, x_val);
       x_motion = map((90 - angle), -90, 90, -255, 255);
       y_motion = map(angle, -90, 90, -255, 255);
       motion(x_motion, y_motion);

From da9d861ef0f57529feab7c553dc064e0fdcf38ea Mon Sep 17 00:00:00 2001
From: Asrumochan Parida <55292217+Asrumochan@users.noreply.github.com>
Date: Thu, 10 Oct 2019 22:03:34 +0530
Subject: [PATCH 08/11] Update task2.ino

---
 Ashrumachan/task2.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Ashrumachan/task2.ino b/Ashrumachan/task2.ino
index 16c4848..26bcbe0 100644
--- a/Ashrumachan/task2.ino
+++ b/Ashrumachan/task2.ino
@@ -34,7 +34,7 @@ void loop()
   {
     x_val = arr[1][0] - x_counter;
     y_val = arr[1][1] - y_counter;
-    angle = atan2(y_val, x_val);
+    angle = atan(y_val, x_val);
     
     if(angle==45){
     x_motion =255;

From 26d32215982a5d2a50f1ecbaeee68184fd6baacd Mon Sep 17 00:00:00 2001
From: Asrumochan Parida <55292217+Asrumochan@users.noreply.github.com>
Date: Sun, 13 Oct 2019 11:39:30 +0530
Subject: [PATCH 09/11] Update shorter_path.ino

---
 Ashrumachan/shorter_path.ino | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/Ashrumachan/shorter_path.ino b/Ashrumachan/shorter_path.ino
index 19b0239..524dfba 100644
--- a/Ashrumachan/shorter_path.ino
+++ b/Ashrumachan/shorter_path.ino
@@ -9,7 +9,7 @@ int count = 0, sf = 1, w = 0,angle;
 int x_val, y_val, x_motion, y_motion,x,y;
 volatile int c = 0;
 volatile int c1 = 0;
-int x_counter, y_counter, arr[4][2] = {{0, 0}, {10, 8}, {12, 8}, {20, 20}};
+int x_counter=0, y_counter=0,x_count,y_count, arr[4][2] = {{0, 0}, {10, 8}, {12, 8}, {20, 20}};
 void motion(int x_val, int y_val);
 void setup() {
   pinMode(a, INPUT);
@@ -40,8 +40,10 @@ void setup() {
 
 void loop()
 {
-  x_counter = c / 100;
-  y_counter = c1 / 100;
+  x_count= c / 100;
+  x_counter = x_counter+x_count;
+  y_count= c1 / 100;
+  y_counter = y_counter+y_count;
 
   for (int i = 1; i <= 3; i++)
   {
@@ -54,6 +56,8 @@ void loop()
       y_motion = map(angle, -90, 90, -255, 255);
       motion(x_motion, y_motion);
     }
+    c=0;
+    c1=0;
   }
 }
 

From 44c85666e4bbff594c20b4200feb4f7b1683c03d Mon Sep 17 00:00:00 2001
From: Asrumochan Parida <55292217+Asrumochan@users.noreply.github.com>
Date: Thu, 1 Oct 2020 01:21:21 +0530
Subject: [PATCH 10/11] Update mapping_encoder.ino

---
 Ashrumachan/mapping_encoder.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Ashrumachan/mapping_encoder.ino b/Ashrumachan/mapping_encoder.ino
index 685e478..c7e39f8 100644
--- a/Ashrumachan/mapping_encoder.ino
+++ b/Ashrumachan/mapping_encoder.ino
@@ -3,7 +3,7 @@
 #define enc_21 3
 #define enc_22 5
 
-volatile int enc1_val = 0;
+volatile int enc1_val = 0
 volatile int enc2_val = 0;
 int x_counter,x_motion,y_counter,y_motion;
 void setup() {

From e03e17b1547754ebc8f49930ba2e1f42e96ee547 Mon Sep 17 00:00:00 2001
From: Prayash77 <56315251+Prayash77@users.noreply.github.com>
Date: Sun, 3 Oct 2021 21:54:42 +0530
Subject: [PATCH 11/11] Update Tasks.txt

---
 Ashrumachan/Tasks.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Ashrumachan/Tasks.txt b/Ashrumachan/Tasks.txt
index 7bfe392..5f2745a 100644
--- a/Ashrumachan/Tasks.txt
+++ b/Ashrumachan/Tasks.txt
@@ -1,2 +1,2 @@
-5th October 2019
+5th october 2019
 Mapping code using encoders