bvisness

Mat4 RotationMatrix(float radians)
{
    Mat4 result;
  
    // assuming column-major order (first index is column, second is row)
    result[0][0] = Math.Cos(radians);
    result[0][1] = -Math.Sin(radians);
    result[1][0] = Math.Sin(radians);
    result[1][1] = Math.Cos(radians);
    

bvisness

import lejos.nxt.Button;
import lejos.nxt.addon.GyroSensor;
import lejos.nxt.SensorPort;
import lejos.nxt.NXTMotor;
import lejos.nxt.MotorPort;
import javax.microedition.lcdui.Graphics;

/**
 * This program makes an NXT robot drive a predetermined path. It uses the wheel tachometers (encoders) and
 * a gyro sensor to keep track of the robot's position and heading, then uses a basic "pure pursuit" algorithm

bvisness

import re

def frequency(note):
    aFreqs = {
        -1: 13.75,
        0: 27.5,
        1: 55.0,
        2: 110.0,
        3: 220.0,
        4: 440.0,

bvisness

/*
 * This file actually includes the implementations from HandmadeMath.h so the
 * main test can link with them.
 */

#define HANDMADE_MATH_NO_INLINE
#define HANDMADE_MATH_IMPLEMENTATION
#define HANDMADE_MATH_CPP_MODE
#include "HandmadeMath.h"

bvisness

// 
// Chaining functions is kind of annoying, and seems unnecessary. Let's try
// building verbal expressions using arrays instead.
// 
// (Plus let's throw some new features in, because regexes can do a lot!)
// 

// 
// Simple stuff can be done like this:
//