Untitled

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	<title></title>
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	<script>
		// This is the x and y of the next point you're moving to
		var nextPoint_x = 33;
		var nextPoint_y = 72;

		// Measure the x and y point of the Plinkquito chassis when totally unspooled
		var startingPoint_x = 0;
		var startingPoint_y = 0;

		// Measure the x and y positions of your motors
		var leftMotor_x = -200;
		var leftMotor_y = 150;
		var rightMotor_x = 200;
		var rightMotor_y = 150;

		// Measure the string width and the motor diameter
		var stringWidth = .032;
		var motorDiameter = 2.5;
		var motorCircumference = Math.PI*motorDiameter;

		// Set these percentages to test different proportions of error for spiraling and doubling
		var percentSpiraling = .5;
		var percentDoubling = .5;

		// General purpose function to calculate the distance between two points with coordinates (x1, y1) and (x2, y2)
		function calculateDistance (x1, y1, x2, y2) {
			var deltaX = x2 - x1;
			var deltaY = y2 - y1;
			var distance = Math.sqrt(Math.pow(deltaX, 2)+Math.pow(deltaY, 2));

			return distance;
		}

		// Calculate initial, unspooled length from right motor
		var initRightLength = calculateDistance(rightMotor_x, rightMotor_y, startingPoint_x, startingPoint_y);

		// Calculate initial, unspooled length from left motor
		var initLeftLength = calculateDistance(leftMotor_x, leftMotor_y, startingPoint_x, startingPoint_y);

		// General purpose funtion to calculate turns needed to get to get to a certain string length
		function calculateTurns (initLength, currLength) {
			var spooledLength = initLength - currLength;

			var numDoublingTurns = (Math.sqrt(Math.PI*Math.pow(motorDiameter, 2) + 2*Math.PI*motorDiameter*stringWidth + 4*spooledLength*stringWidth + Math.PI*Math.pow(stringWidth, 2)) - Math.sqrt(Math.PI)*motorDiameter - Math.sqrt(Math.PI)*stringWidth)/(2*Math.sqrt(Math.PI)*stringWidth);

			var numSpiralingTurns = spooledLength / Math.sqrt(Math.pow((Math.PI*motorDiameter), 2) + Math.pow(stringWidth, 2));

			var turns = percentDoubling*numDoublingTurns + percentSpiraling*numSpiralingTurns;

			console.log("Turns is "+turns);
			return turns;
		}

		// Calculate left motor turns to get to next point
		calculateTurns (initLeftLength, calculateDistance(leftMotor_x, leftMotor_y, nextPoint_x, nextPoint_y));

		// Calculate right motor turns to get to next point
		calculateTurns (initRightLength, calculateDistance(rightMotor_x, rightMotor_y, nextPoint_x, nextPoint_y));

	</script>

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