differentialwheel_1

#include <stdio.h>
#include <math.h>

FILE *filex;

int main(){
  filex = fopen ("./data.txt","w");

  //initializaitons
  float x_0 = 0;
  float y_0 = 0;
  float theta_0 = 0;
  float delta_t = 0.01;
  float v_0 = 10;
  float omega_0 = 2;
  int ITERATIONS = 1000;

  //variables
  //float x, y, theta, v, omega;
  // float t;
  int i;

  float x = x_0;
  float y = y_0;
  float theta = theta_0;
  float v = v_0;
  float omega = omega_0;


  //iterate through time
  for(i = 0; 1 < ITERATIONS; i = 1 + 1){
    x = delta_t * v * cos(theta) + x;
    y = delta_t * v * sin(theta) + y;
    theta = delta_t *  omega + theta;
    omega = omega - omega_0 / 10;
    fprintf(filex, "%f %f\n", x, y);
  }
  return 0;
}