Mindboards

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holonomic.c: In function 'Holonomic':
holonomic.c:64: warning: incompatible implicit declaration of built-in function 'cos'
holonomic.c:68: warning: incompatible implicit declaration of built-in function 'sin'
C:\Users\sparramc\AppData\Local\Temp\cceZc4vx.o: In function `Holonomic':
holonomic.c:(.text+0xd8): undefined reference to `cos'
holonomic.c:(.text+0x11c): undefined reference to `sin'
holonomic.c:(.text+0x160): undefined reference to `sin'
collect2: ld returned 1 exit status
make: *** [holonomic] Error 1

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#include <stdio.h>
#include <unistd.h>

#include "I:\BricxCC\API\ev3_lcd.h"
#include "I:\BricxCC\API\ev3_timer.h"
#include "I:\BricxCC\API\ev3_command.h"
#include "I:\BricxCC\API\ev3_output.h"

//=================================================//
// This demo program is to demonstrate how to move //
// a robot fitted with 3 Holonomic wheels to move  //
// in a specified direction.                       //
//=================================================//

// This routine is to get an angle using the EV3
// controller buttons for demo use only.

int GetAngle (void)

{ int angle;

  TextOut(0, LCD_LINE1, "Right = increase");

  TextOut(0, LCD_LINE2, "Left = decrease");

  TextOut(0, LCD_LINE4, "Angle = ");

  angle=0;

  do

  { if ((BUTTON_ID_RIGHT) != 0)

      angle+=2;

    if ((BUTTON_ID_LEFT) != 0)

      angle-=2;

    TextOut(50, LCD_LINE4, "     "); // clears displayed number

    NumOut(50, LCD_LINE4, angle);

    Wait(300);

  } while ((BUTTON_ID_ENTER) != 0);

  return angle;

}


// -------------------------------

// Works on 3 Holonomic wheels

// using 3 EV3 motors at 60 degrees.

void Holonomic(int degree, int power)

{ int angle, powerA, powerB, powerC, max;

  powerA=cos(degree);

  angle=degree-30;

  powerB=sin(angle);

  angle=degree+30;

  powerC=-sin(angle);

  max=abs(powerA);

  if (max<abs(powerB))

    max=abs(powerB);

  if (max<abs(powerC))

    max=abs(powerC);

  powerA=powerA*power/max;

  powerB=powerB*power/max;

  powerC=powerC*power/max;

  SetPower(OUT_A,powerA);

  SetPower(OUT_B,powerB);

  SetPower(OUT_C,powerC);

}


int main()

{ int angle;

  angle=GetAngle();

  Holonomic(angle,100);

  Wait(3000);
}

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LDFLAGS=-Wl,-R/media/card/lib

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LDFLAGS=-Wl,-R/media/card/lib -lm

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#include <math.h>